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We have been working on an oscillating fin type actuator for underwater robots. Our research aims at the development of a fin type actuator imitating mechanisms of underwater creatures by using an electoroconductive polymer, which is a kind of artificial muscles. We expect that this actuator takes the place of a screw propeller in the missions which need precise and silent motion control such as observation...
Precise motion control of underwater vehicles without mechanical noises is a technical issue on underwater observation. As a solution for the problem, we pay attentions to bio-mechanisms of underwater creatures, especially ribbon-like fins being used for attitude control. Bio-mechanisms of creatures are adapted to environment as a result of evolution. If the motor control mechanisms of the creatures...
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