ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A2-F07
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全方位推進型水上移動機MINAMOにおける推進部故障時の推力制御
*成岡 駿之介武居 直行大塚 悠太
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Multidirectional INtuitive Aquatic MObility (MINAMO) that we have developed is a personal vehicle on water. It is propelled with four thrusters fixed at the bottom and it can multidirectionally move on water according to the propulsion control of the thrusters.
The failure of thruster has not been considered so far. In this paper, we propose the propulsion control of three thrusters to return to the shore in the case of the failure of a thruster. The effectiveness is shown experimentally.

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