The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2024
Session ID : 2A2-J09
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Reproduction of dolphin swimming motion using segment model and thin mckibben type artificial muscle
*Kakeru MATSUIKoji OKUTOFumitake FUJIITakashi SAITOMasaaki IKEDA
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Abstract

The purpose of this study is to reproduce the swimming behavior of dolphin with a dolphin robot that inherits their muscloskeletal structure. For this purpose, we used swimming video of a dolphin to construct a segment model that can represent their swimming behavior. A model consisting of four segments was estimated accordingly. The angles of the joints of the segment model were estimated, and the driving pressure values of the artificial muscles that were used in a robotic dolphin were estimated using the model equation representing the dynamic characteristics of the small diameter McKibben-type artificial muscle that we constructed. The artificial muscles were attached to a 1.2 m rubber plate that mimics the backbone of a dolphin, and we verified the behavior of our robotic dolphin prototype.

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© 2024 The Japan Society of Mechanical Engineers
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