マンタ型ロボットのヒレのひねり角制御による停止特性

抄録

In this paper, Manta-like robot is proposed to perform the fin with flapping and feathering motion. In the case of rigid fin controlled by feathering angle, stopping performance is evaluated by time response from the initial swimming velocity for flapping frequency. The swimming velocity increases for the frequency of the flapping motion. After reaching the maximum velocity, the feathering angle is controlled in the decreasing velocity period. The result shows that the feathering angle control for the Manta-like robot is effective to stopping motion in the water.