Development of Biomimetic Underwater Robots with High Performance and Multi Functions

• Project/Area Number: 22560244
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: The University of Electro-Communications
• Principal Investigator: MING Aiguo 電気通信大学, 情報理工学研究科, 准教授 (50239456)
• Project Period (FY): 2000 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000); Fiscal Year 2012: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000); Fiscal Year 2011: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000); Fiscal Year 2010: ¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
• Keywords: ロボティクス / 水中ロボット / 生物模倣型ロボット / ソフトロボット / 圧電繊維複合材料 / 生物模倣 / 柔軟体推進機構 / 柔軟体推進制御

Research Abstract

This project aims at the development of biomimetic underwater robots with high performance and multi functions. The basic modeling and analyzing method for the underwater robots using piezoelectric fiber composite has been established and is available for design and control of the robots. By the method, high performance underwater robots for mimicking Caranginae and Manta have been developed successfully.

Research Products

• [Presentation] 圧電繊維複合材料を用いた生物模倣型ソフト水中ロボットの研究開発 (2012)
  • Author(s): 橋本一慶, 趙文静, 明愛国, 下条誠
  • Organizer: 計測自動制御学会システムインテグレーション部門講演会
• [Presentation] 胴体屈曲推進型水中ロ ボットのPTP制御に関する研究 (2012)
  • Author(s): 小松優祐、大阪拓真、橋本一慶、趙文静、明愛国、下条誠
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
• [Presentation] Structural Design and Dynamic Analysis of Robotic Fish with Piezoelectric Fiber Composite (2012)
  • Author(s): Wenjing Zhao, Jun Shintake, Aiguo Ming, Makoto Shimojo
  • Organizer: Proceedings of 9th France-Japan Congress on Mechatronics
  • Place of Presentation: Paris, France
• [Presentation] Structural Design and Dynamic Analysis of Robotic Fish with Piezoelectric Fiber Composite (2012)
  • Author(s): Wenjing Zhao
  • Organizer: 9th France-Japan Congress on Mechatronics
  • Place of Presentation: Paris, France
• [Presentation] 胴体屈曲推進型水中ロボットのPTP 制御に関する研究 (2012)
  • Author(s): 小松優祐
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会 2012
  • Place of Presentation: 浜松、日本
• [Presentation] 圧電繊維複合材料を用いた生物模倣型ソフト水中ロボットの研究開発 (2012)
  • Author(s): 橋本一慶
  • Organizer: 計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 福岡、日本
• [Presentation] マンタの動きを模倣したソフト水中ロボットの開発 (2011)
  • Author(s): 大阪拓真,新竹純,明愛国,下条誠
  • Organizer: 第17回日本IFToMM会議シンポジウム前刷集
• [Presentation] Development of a Soft Underwater Robot Mimicking Cow-nosed Ray (2011)
  • Author(s): Wenjing Zhao, Takuma Osaka, Aiguo Ming, Makoto Shimojo
  • Organizer: Proceedings of IEEE ROBIO 2011
  • Place of Presentation: Phuket, Thailand
• [Presentation] A Novel Propulsion Method of Flexible Underwater Robots (2011)
  • Author(s): Jun Shintake, Aiguo Ming, Makoto Shimojo
  • Organizer: Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: San Francisco, USA
• [Presentation] A Novel Propulsion Method of Fiexible Underwater Robots (2011)
  • Author(s): Jun Shintake, Aiguo Ming, Makoto Shimojo
  • Organizer: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: San Francisco, USA
• [Presentation] Development of a Soft Underwater Robot Mimicking Cow-nosed Ray (2011)
  • Author(s): Wenjing Zhao, Takuma Osaka, Aiguo Ming, Makoto Shimojo
  • Organizer: 2011 IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: Phuket, Thailand
• [Presentation] マンタの動きを模倣したソフト水中ロボットの開発 (2011)
  • Author(s): 大阪拓真, 新竹純, 明愛国, 下条誠
  • Organizer: 第17回日本IFToMM会議シンポジウム
  • Place of Presentation: 東京、日本
• [Presentation] Development of Flexible Underwater Robots with Caudal Fin Propulsion (2010)
  • Author(s): Jun Shintake, Aiguo Ming, _Makoto Shimojo
  • Organizer: 20101EEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: 台北(台湾)
  • Year and Date: 2010-10-19
• [Presentation] Development of Underwater Robots using Piezoelectric Fiber Composite-Diversification of Propulsion Movement by Single Fin Structure- (2010)
  • Author(s): Jun Shintake, Aiguo Ming, Makoto Shimojo
  • Organizer: 5th International Conference on the Advanced Mechatronics
  • Place of Presentation: 大阪大学(大阪)
  • Year and Date: 2010-09-05
• [Presentation] 圧電繊維複合材料を用いた水中ロボットの開発-単一ヒレ構造による推進運動の多様化- (2010)
  • Author(s): 新竹純, 明愛国, 下条誠
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2010
  • Place of Presentation: 旭川大雪アリーチ(旭川)
  • Year and Date: 2010-06-16
• [Presentation] 圧電繊維複合材料を用いた水中ロボットの開発-単一ヒレ構造による推進運動の多様化- (2010)
  • Author(s): 新竹純, 明愛国, 下条誠
  • Organizer: ロボティクス・メカトロニクス講演会
• [Presentation] Development of Flexible Underwater Robots with Caudal Fin Propulsion (2010)
  • Author(s): Jun Shintake, Aiguo Ming, Makoto Shimojo
  • Organizer: Proceedings of the 2010IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Taipei, Taiwan
• [Presentation] Development of Underwater Robots using Piezoelectric FiberComposite -Diversification of Propulsion Movement by Single Fin Structure- (2010)
  • Author(s): Jun Shintake, Aiguo Ming, Makoto Shimojo
  • Organizer: Proceedings of The 5th International Conference on the Advanced Mechatronics(ICAM2010)
  • Place of Presentation: Osaka, Japan
• [Remarks]
  • URL: http://www.rm.mce.uec.ac.jp/ming/