姿勢変換機能を備えた水中走行遊泳型ロボットの性能検証

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2016/09/01

タイトル(英語): Performance Verification of Underwater Crawling Swimming Robot with Attitude Changing Function

著者名: 森　勇人（（株）日立製作所 研究開発グループ），菊地　敏一（日立GEニュークリア・エナジー（株））

著者名(英語): Hayato Mori (Hitachi, Ltd., Hitachi Research Laboratory), Toshikazu Kikuchi (Hitachi-GE Nuclear Energy, Ltd.)

キーワード: 水中ロボット，姿勢制御，流体力，復元力，重心，浮心　　underwater robot，attitude control，hydrodynamic force，restoring force，center of gravity，center of buoyancy

要約(英語): In this paper' we describe an underwater robot with three movement functions: 1) swimming, 2) crawling on a floor and 3) climbing on a wall. These functions help the robot avoid obstacles and thus improve its ability to access narrow spaces. The swimming stability of the robot is also improved by increasing the distance between the center of gravity and the center of buoyancy. We propose a simple attitude control technique for making the robot adhere to a wall after it is rotated by thrusters. Attitude control is realized by sequence control, and appropriate control parameters are determined by considering the control disturbance and stability of the robot. We confirm experimentally that the robot swims stably and adheres to a vertical wall by virtue of the simple sequence control.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.136 No.9 （2016）

本誌掲載ページ: 606-614 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/ieejias/136/9/136_606/_article/-char/ja/