The stabilization of attitude of a Manta robot by a mechanism for moving the center of gravity and improvement of diving ability

Takanori Nakatsuka, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The development of underwater robots has been required for biological research in the sea. Therefore, it needs biomimetic robots because they hardly affect the behavior of creatures. We have developed a Manta robot that has propulsion mechanisms with pectoral fins, mimicking the pectoral fin of the manta. The conventional Manta robot is influenced by a righting moment varies according to the distance between the center of gravity (c.g) and the center of buoyancy. The righting moment keeps an object in the water in a certain posture. If the righting moment is large, the diving ability is reduced, so that the Manta robot is expected to not follow the movement of any organism. On the other hand, if the righting moment is small, the stability of the posture is insufficient, so that it is difficult to acquire the camera image. Therefore, we improve the diving ability of the Manta robot as well as stabilizing the posture, by changing the righting moment due to adjusting c.g. In this paper we explain the mechanism for moving c.g, and the way to adjust c.g. Furthermore, several swimming experiments are conducted, using the Manta robot equipped with the mechanism for moving c.g.

Original languageEnglish
Title of host publicationICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
PublisherIEEE Computer Society
Pages220-225
Number of pages6
ISBN (Electronic)9788993215120
DOIs
Publication statusPublished - Jan 24 2017
Event16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of
Duration: Oct 16 2016Oct 19 2016

Other

Other16th International Conference on Control, Automation and Systems, ICCAS 2016
CountryKorea, Republic of
CityGyeongju
Period10/16/1610/19/16

Fingerprint

Gravitation
Stabilization
Robots
Biomimetics
Buoyancy
Propulsion
Cameras
Water
Experiments

Keywords

  • Manta Robot
  • Movement of the Center of Gravity
  • Restoring Force

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Nakatsuka, T., Watanabe, K., & Nagai, I. (2017). The stabilization of attitude of a Manta robot by a mechanism for moving the center of gravity and improvement of diving ability. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings (pp. 220-225). [7832325] IEEE Computer Society. https://doi.org/10.1109/ICCAS.2016.7832325

The stabilization of attitude of a Manta robot by a mechanism for moving the center of gravity and improvement of diving ability. / Nakatsuka, Takanori; Watanabe, Keigo; Nagai, Isaku.

ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society, 2017. p. 220-225 7832325.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nakatsuka, T, Watanabe, K & Nagai, I 2017, The stabilization of attitude of a Manta robot by a mechanism for moving the center of gravity and improvement of diving ability. in ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings., 7832325, IEEE Computer Society, pp. 220-225, 16th International Conference on Control, Automation and Systems, ICCAS 2016, Gyeongju, Korea, Republic of, 10/16/16. https://doi.org/10.1109/ICCAS.2016.7832325
Nakatsuka T, Watanabe K, Nagai I. The stabilization of attitude of a Manta robot by a mechanism for moving the center of gravity and improvement of diving ability. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society. 2017. p. 220-225. 7832325 https://doi.org/10.1109/ICCAS.2016.7832325
Nakatsuka, Takanori ; Watanabe, Keigo ; Nagai, Isaku. / The stabilization of attitude of a Manta robot by a mechanism for moving the center of gravity and improvement of diving ability. ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society, 2017. pp. 220-225
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