進行波方程式に基づくバルーン魚ロボットの制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2014/03/01

タイトル(英語): Control of Balloon Fish Robot Based on Traveling Wave Equation

著者名: 橋本　和磨（電気通信大学大学院情報理工学研究科），内田　雅文（電気通信大学大学院情報理工学研究科）

著者名(英語): Kazuma Hashimoto (Graduate School of Informatics and Engineering, The University of Electro-Communications), Masafumi Uchida (Graduate School of Informatics and Engineering, The University of Electro-Communications)

キーワード: 魚ロボット，飛行船ロボット，進行波　　Fish robot，Airship robot，Traveling wave

要約(英語): A fish has excellent swimming ability in underwater. An airship robot capable of performing a low-speed, low-altitude flying low energy has been researched. Aquatic organism type airship robot “swimming in the air” combines these features have been researched and developed. BFR (Balloon Fish Robot) is one of this type robots. This paper is concerned with the simulation motion of BFR and parameter optimization for the propulsion efficiency of the aquatic organism type airship robot propelled by Traveling Wave. The controlling expression of BFR is written by Traveling-Wave Equation. And the equation of motion is defined through the controlling expression and drag force. The comparative experiments on forward air speed of the BFR of simulation and experiment evaluated the validity. The highest propulsion efficiency parameter is investigated by calculating using the experimental air speed and the maximum amplitude of the tail fin and Traveling-Wave frequency.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.134 No.3 （2014） 特集：情報環境と人間の調和に向けた工学技術

本誌掲載ページ: 433-440 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/134/3/134_433/_article/-char/ja/