マンタロボットの2自由度設計に基づくジンバル姿勢制御のためのモデルの検討

抄録

Underwater exploration robots are utilized for exploring underwater resources and surveying ecology of aquatic organisms. Biomimetic robots can conduct surveys without affecting aquatic organisms. A Manta robot with a propulsive mechanism using pectoral fins, one of which imitated an actual Manta’s pectoral fin, has already been developed up to now. In this Manta robot, the self-position is estimated using optical flow. However, the Manta Robot generated a pitch motion during swimming and affects the posture of a camera. To more accurately estimate the self-position of the manta robot, it is aimed at constructing a model to control the posture of a gimbal mechanism for a mounted camera accurately, in the framework of two-degree-of-freedom design.