2010 Fiscal Year Final Research Report
Establishment of basic technology of biomimetic underwater vehicles and applications
| Project/Area Number |
20246125
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Naval and maritime engineering
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| Research Institution | Osaka University |
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Principal Investigator |
KATO Naomi Osaka University, 工学研究科, 教授 (00138637)
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| Co-Investigator(Kenkyū-buntansha) |
SUZUKI Hiroyoshi 大阪大学, 工学研究科, 准教授 (00252601)
SENGA Hidetaka 大阪大学, 工学研究科, 助教 (60432522)
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| Project Period (FY) |
2008 – 2010
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| Keywords | 水陸両用 / 遊泳 / 歩行 / 生物規範型 / 外乱 / 多機能性 / 干潟 / 環境計測 |
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| Research Abstract |
Aiming at the automatic monitoring of environments along natural coastal areas and tidal flats, we designed and developed an amphibious robot equipped with fin actuators mimicking the locomotion of tortoises and sea turtles. We adopted the advantages of these 2 creatures in a robotic turtle, namely, the lift-based swimming mode that sea turtles use and the quadrupedal locomotion tortoises use. The swimming and walking performances of the robotic turtle were estimated by experiment and simulation. It has maneuverability in forward and backward motion, descending and ascending in the vertical direction, and turning at the same position using four fins. It also has a walking performance on water bed even in waves.
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