より魚らしい形状を有する連続飛び移り座屈機構を用いた魚型ロボットの開発

抄録

We have focused on the high maneuverability of fish such as rapid turning and acceleration, and have studied fish-like robots using snap-through buckling. In our previous study, we developed a waterproof fish robot. However, it was difficult to make the robot’s shape streamlined like a fish because the waterproof box is box-shaped. In this paper, we develop a waterproof box in the shape of a fish head in order to develop a robot with a more fish-like shape. By placing the control and drive units in the head, the degree of freedom in the design of the torso is increased. In addition, we aim to improve the frequency of buckling and swimming speed by using a higher power motor. As a result of swimming experiments, we succeeded in improving the frequency of buckling of the jumping motion. On the other hand, it was confirmed that the swimming speed decreased when the frequency was too high.