区分的に平均曲率一定曲面モデルを適用したヒレを有するエイ型ロボット

抄録

When robotizing an animal’s membrane- or surface-shaped parts, the problem of discretizing them arises. Generally, they are composed of frames and passive membranes, following the skeleton of the original animal. This paper focuses on the ease of estimating the shape of the membrane-like parts and uses a piecewise constant mean curvature surface for the discretization of the pectoral fin of a robotic stingray. The discretized fins alternately have cylindrical surfaces and minimal surfaces. When bending actuators with a tendon-driven system are employed as cylindrical surfaces, we will show that the fin shape can be estimated from the amount of traction on the tendon.