生物模倣型ソフト水中ロボットの研究開発

—駆動システムを内蔵した立体魚型ロボットの開発—

抄録

3-D soft underwater robot using piezoelectric fiber composite is being developed by authors' group. The purpose of this report is to integrate driving systems such as battery, amplifier for piezoelectric fiber composite, microcomputer into the robot, so that the robot can swim in the water without any wiring. First, we design a small driving system with considering the basic requirements. Next, we design and make the prototype based on the structure of real trout in witch built-in driving system can be included. To confirm the basic performance of the prototype, we measure the temperature within the prototype as well as the driving time, and evaluate RSSI (Received Signal Strength Indicator) of wireless module in water. Then, we measure the swimming speed and swimming number to evaluate propulsion performance. As a result, developing the underwater robot with built-in driving system, driving in water, and wireless controlling by external computer have been realized.