飛び移り座屈機構を用いた魚型遊泳ロボットの開発

抄録

This paper proposes a fish-like swimming robot activated by snap-through buckling of an elastic plate. For proceeding in the water, a fin is attached at the edge of the elastic plate, and the other edge is actuated by a servo motor to perform a periodic motion. We compare the buckling motions in the air with those in the water by writing the bode diagram, to find appropriate servo inputs for generating a buckling motion. After developing a swimming robot, consisting of one elastic plate actuated by a servo motor, we discuss the swimming speed by changing the actuation frequency.