小型水中ロボット用自動バラストシステムの開発

抄録

In recent years aquatic biota or seabed resource attract attention, and underwater exploration is carried out. However, underwater is a difficult extreme environment for people to work directly. When developing underwater robot, also to adjust the posture of the robot in a laboratory pool, it is necessary to re-adjust the attitude because the buoyancy is different in an environment to operate in practice. Therefore we developed the automatic ballast system to adjust the pitch of the robot automatically. In addition, this system has the function to move up in emergency.