Summary

Proceedings of the 2012 International Symposium on Nonlinear Theory and its Applications

2012

Session Number:A3L-C

Session:

Number:183

Motion Verification of an Underwater Robot Using the Passive Posture Maintenance Mechanism for Thrusters

Fumiaki Takemura,  Shota Futenma,  Reyes Tatsuru Shiroku,  Kuniaki Kawabata,  Shinichi Sagara,  

pp.183-186

Publication Date:

Online ISSN:2188-5079

DOI:10.15248/proc.1.183

PDF download (531KB)

Summary:
Authors have been developing an underwater robot that can be used for environmental protection work in the sea near Okinawa. First, the authors are aiming at the development of an underwater robot do the work in the sea(e.g. the capture of crown-of-thorns starfish). When raising the seawater objects by an underwater robot, the conventional method to fix the thruster is difficult to raise it straight up. Therefore, we proposed “the passive posture maintenance mechanism for thrusters”. By using this mechanism, the vertical thrusters can always keep itself posture to upward and we think that an underwater robot can be relatively easy to raise to just above the object. Moreover, postural stability of the robot with a work is important in water. Hence, in this paper, we describe the postural stability of an underwater robot using by our proposed passive mechanism. We verify the usefulness of this mechanism to postural stability from the experimental results.

References:

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