水中探査用の油圧容積式ソフト反転ロボットの操舵機構

原文アブストラクト

Despite a significant proportion of the Earth being covered in water, exploration of what lies below has been limited due to the challenges and difficulties inherent in the process. Current state of the art robots such as Remotely Operated Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs) are bulky, rigid and unable to conform to their environment. Soft robotics offers solutions to this issue. Fluid-actuated eversion or growing robots, in particular, are a good example. While current eversion robots have found many applications on land, their inherent properties make them particularly well suited to underwater environments. An important factor when considering underwater eversion robots is the establishment of a suitable steering mechanism that can enable the robot to change direction as required. This project proposes a design for an eversion robot that is capable of steering while underwater, through the use of bending pouches, a design commonly seen in the literature on land-based eversion robots. These bending pouches contract to enable directional change. Similar to their land-based counterparts, the underwater eversion robot uses the same fluid in the medium it operates in to achieve extension and bending but also to additionally aid in neutral buoyancy. The actuation method of bending pouches meant that robots needed to fully extend before steering was possible. Three robots, with the same design and dimensions were constructed from polyethylene tubes and tested. Our research shows that although the soft eversion robot design in this paper was not capable of consistently generating the same amounts of bending for the inflation volume, it still achieved suitable bending at a range of inflation volumes and was observed to bend to a maximum angle of 68 degrees at 2000 ml, which is in line with the bending angles reported for land-based eversion robots in the literature.