Motion analysis of a manta robot for underwater exploration by propulsive experiments and the design of central pattern generator

Masaaki Ikeda, Shigeki Hikasa, Keigo Watanabe, Isaku Nagai

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

Although, Autonomous Underwater Vehicles (AUVs) used for investigating underwater ecology have attracted the attention of underwater researchers, conventional AUVs moved underwater by screw propellers generate loud noise thatmay disturb the underwater environments and inhabitants to be observed. This paper discusses the development of an AUV that mimics the manta ray. Central Pattern Generators (CPGs) are also proposed to generate the motion of pectoral fins for Manta robot. The practicality of the robot is checked in underwater propulsion experiments, and the effectiveness of the proposed motion generation method is demonstrated in numerical simulations.

Original languageEnglish
Pages (from-to)231-237
Number of pages7
JournalInternational Journal of Automation Technology
Volume8
Issue number2
DOIs
Publication statusPublished - Mar 2014

Keywords

  • Autonomous underwater vehicle
  • Central pattern generator
  • Fish robot
  • Underwater ecology investigation

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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