水中ロボットによる表土除去作業のためのスラスタ配置決定と操縦支援

抄録

In this paper, we consider the application of haptic shard control to an floating underwater robot for surface sediment removal. First, we experimentally measured water flow velocities generated by marine thrusters to determine the thruster arrangement for surface sediment removal. Based on the thruster arrangement, we discuss a method to compensate for the reaction force acting on the underwater robot during sediment removal.