Snapp：開水域を高速・3次元機動で泳ぐ敏捷なロボット魚
Snapp: An Agile Robotic Fish with 3-D Maneuverability for Open Water Swim
尾びれの推進と操舵を統合する周期的差分法と2枚の胸びれ制御を組み合わせ、開水域で1.5 m/sの遊泳と8の字・S字軌道などの3次元機動を実現したロボット魚Snappを開発した。
著者: Timothy J. K. Ng, Nan Chen, Fu Zhang
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Fish exhibit impressive locomotive performance and agility in complex underwater environments, using their undulating tails and pectoral fins for propulsion and maneuverability. Replicating these abilities in robotic fish is challenging; existing designs focus on either fast swimming or directional control at limited speeds, mainly within a confined environment. To address these limitations, we designed Snapp, an integrated robotic fish capable of swimming in open water with high speeds and full 3-dimensional maneuverability. A novel cyclic-differential method is layered on the mechanism. It integrates propulsion and yaw-steering for fast course corrections. Two independent pectoral fins provide pitch and roll control. We evaluated Snapp in open water environments. We demonstrated significant improvements in speed and maneuverability, achieving swimming speeds of 1.5 m/s (1.7 Body Lengths per second) and performing complex maneuvers, such as a figure-8 and S-shape trajectory. Instantaneous yaw changes of 15$^{\circ}$ in 0.4 s, a minimum turn radius of 0.85 m, and maximum pitch and roll rates of 3.5 rad/s and 1 rad/s, respectively, were recorded. Our results suggest that Snapp's swimming capabilities have excellent practical prospects for open seas and contribute significantly to developing agile robotic fishes.
