Development of Aquatic Robot with Four Fins for Underwater Environment with Floating Objects

Abstract

There are places where it is difficult for people to enter, such as inside sewer pipes. The development of robots is expected to make sewer pipe surveys unmanned. There is a risk of failure in screw propulsion due to the presence of string-like suspended substances in the sewage. Therefore, we adopted fin propulsion that imitated aquatic organisms. We developed an aquatic robot with four fins, and conducted movement control and posture evaluation experiments.