モータ・ワイヤ駆動併用型飛び移り座屈機構を用いた魚型ロボットの開発

抄録

Fish can perform instantaneous accelerations and sharp turns in an emergency. In this study, we focus on the highly mobile underwater locomotion peculiar to fish, and develop fish robot using snap-through buckling. In our previous studies, we developed a mechanism can generate continues snap-through buckling mechanism using DC motor and triangle cum. In this paper, we propose a continuous snap-through buckling mechanism combined with wire drive, and develop a fish robot using the mechanism. The performance of the proposed mechanism was evaluated by swimming experiments. From experimental results, we confirmed that the turning performance of the robot was improved by the proposal mechanism.