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 language | English |
|---|---|
| Title of host publication | ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings |
| Publisher | IEEE Computer Society |
| Pages | 220-225 |
| Number of pages | 6 |
| ISBN (Electronic) | 9788993215120 |
| DOIs | |
| Publication status | Published - Jan 24 2017 |
| Event | 16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of Duration: Oct 16 2016 → Oct 19 2016 |
Other
| Other | 16th International Conference on Control, Automation and Systems, ICCAS 2016 |
|---|---|
| Country | Korea, Republic of |
| City | Gyeongju |
| Period | 10/16/16 → 10/19/16 |
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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
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 proceeding › Conference contribution
}
TY - GEN
T1 - The stabilization of attitude of a Manta robot by a mechanism for moving the center of gravity and improvement of diving ability
AU - Nakatsuka, Takanori
AU - Watanabe, Keigo
AU - Nagai, Isaku
PY - 2017/1/24
Y1 - 2017/1/24
N2 - 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.
AB - 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.
KW - Manta Robot
KW - Movement of the Center of Gravity
KW - Restoring Force
UR - http://www.scopus.com/inward/record.url?scp=85014028610&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85014028610&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2016.7832325
DO - 10.1109/ICCAS.2016.7832325
M3 - Conference contribution
SP - 220
EP - 225
BT - ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
PB - IEEE Computer Society
ER -