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Precise motion control without mechanical noises is a technical issue on the operations of research vessels and underwater vehicles in order to observe creatures in actual. As a solution for the problem, we pay attentions to bio- mechanisms of underwater creatures, especially undulately fins being used for attitude control. Bio-mechanisms of creatures are adapted to environment as a result of evolution...
Generally experiments in a test tank are carried out in advance to get the dynamic characteristic of underwater robots, and various motion control laws are evaluated based on obtained dynamics of the robot. In this study, we made a small and lightweight AUV as a testbed for control performance evaluation. The AUV has two modes, "cruising mode" in which the motion is controlled by lift force...
Various kinds of robots have been developed parallel with the progress of computers and information processing technology, and the operations in the extreme environments, such as disaster areas, space and ocean, are getting one of the practical solutions for those hazardous missions. The underwater robots are one of the extreme environment robots and expected as one of solutions for underwater activities,...
Oceans, the familiar environment for us, are an attractive environment because of abundant mineral resources, energy, space, and so on, and underwater research and development are carried out rapidly during recent decades. However, the extreme conditions such as high water pressure, invisibility and non-oxygen become great barriers for human to access directly. Underwater robots are expected and developed...
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