自律型サブグラムSMA駆動スイマー
An Autonomous Subgram SMA-Based Swimmer
形状記憶合金ワイヤ駆動の小型アクチュエータと基板・バッテリを搭載し、自律遊泳が可能な900mgの生物模倣スイマーを開発した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Conor K. Trygstad, Francisco M. F. R. Gonçalves, Néstor O. Pérez-Arancibia
分類: cs.RO
原文アブストラクト
We present the Swima, a bioinspired 900-mg swimmer propelled by two 10-mg high-work-density (HWD) actuators driven by shape-memory alloy (SMA) wires. We integrated onboard power and computation by using a custom-built printed circuit board (PCB) and an 11-mAh 3.7-V 507-mg single-cell lithium-ion (Li-Ion) battery, which in conjunction enable autonomous swimming in excess of 18 min. The Swima can swim at speeds of up to 22.4 mm/s (0.56 Bl/s), achieves turning rates of up to 14{\deg}/s, and can follow 0-degree heading reference trajectories with root mean square (RMS) values of tracking errors of about 6.5{\deg} across multiple tests. This robot is the first subgram microswimmer with onboard power, actuation, and computation developed to date.
