著者

岡田 光貴 末岡 裕一郎 中西 大輔 大須賀 公一

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.85, no.880, pp.19-00151, 2019 (Released:2019-12-25)

参考文献数

13

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This paper is concerned with the demonstration of scallop-like swimming with the aid of robot toy; using jet propulsion by clapping the shells quickly. Previous works from biological approach have indicated what structures contributes to generate the jet propulsion. This paper tries to perform quick underwater locomotion by mimicking the structures of scallop based on constructive approach: development of scallop-like robot with autonomous generation of jet propulsion. After designing the structure and actuation mechanism by mimicking the scallop, we focus on the effect of the mantle property on swimming. Firstly we confirm that developed robot can perform scallop-like swimming. Secondly we also compare the swimming speed by changing the property of designed mantles.