四肢の分散協調的パドリングにより推進する水中ロボット

抄録

Paddling is a swimming styles of animals, represented by a dog paddle, and is widely used as the propulsion style for bio-inspired swimming robots. These robotics studies mainly investigate shape and movement of each paddle with a specific inter-paddle coordination, e.g., trotting gait. It is expected that flexible coordination patterns between paddles allow the robot achieve more efficient and versatile swimming. This study aims to establish a control method that generates animal-like adaptive paddling. This paper develops a swimming robot with four paddles and exams a decentralized inter-paddle coordination mechanism.