著者

中島 求

出版者

一般社団法人 日本機械学会

雑誌

年次大会

巻号頁・発行日

vol.2013, pp._F112002-1-_F112002-5, 2013

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The swimming motions of animals are quite interesting and useful from the viewpoint of science and engineering. Three dolphin-like robots and a swimming humanoid which were developed by the author's group were introduced in this paper. The dolphin-like robots of Type 1 and Type 2 were developed in order to investigate the performance of the steady straight swimming. Type 1 had one air motor to actuate the caudal fm and one passive joint at the root of the fin. The total length of the robot was 1.75m. The maximum swimming speed of 1.15m/s and the maximum propulsive efficiency of 65% were achieved. Type 2 had the similar structure with Type 1 although the main joint was actuated by an electric motor whose maximum power was 7.4kW. The maximum swimming speed of 1.9m/s was achieved. Type 3 was developed in order to investigate the performance of the maneuverability. A loop-the-loop motion and three-dimensional motion in the water were realized. The swimming humanoid was developed for research of human swimming. It had 20 motors inside and the body size was half of an actual competitive swimmer. The swimming motion in a circulating water tank and the free swimming in a swimming pool were realized, respectively.