実魚を模した形状を有する飛び移り座屈駆動式鯛型ロボットの開発

抄録

In this study, we have focused on the high maneuverability of fish, such as rapid turning and acceleration, and aim to develop a fish-type robot that can perform such movements in the water. In a previous study, a fish-type robot was developed using snap-through buckling and successfully swam. However, the achievement of high-mobility swimming required an increasing swimming speed and a more fish-like shape. In this paper, a fish-shaped robot was developed based on data from scans of a real sea bream. In order to increase the swimming speed, the robot was equipped with a continuous snap-through buckling mechanism. The results of the swimming experiments showed that the developed robot successfully swam, but it was also found that some parts of the continuous snap-through buckling mechanism and the control mechanism of the elastic body needed to be improved to increase the swimming speed.