セグメントモデルと細径マッキベン型人工筋肉によるイルカの遊泳動作の再現

抄録

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.