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           Motor-based underwater robots cannot implement precise operations in narrow or complicated environments. And smart actuator-based underwater microrobots cannot realize high velocity and long cruising time. For solving these problems, we developed a mother-son robot system that can be used in a wide range of underwater applications.

      研究のアプローチ

        ・Propose a mother-son robot system based on the cooperation of motor-based robot and microrobots, to take advantage of both kinds of robots.
        ・Develop an amphibious spherical mother robot for the proposed system.
        ・Develop a mechanism for mother-son robot cooperation.

     
      水陸両用な球型ロボットの構造

        The amphibious spherical mother robot consists of an upper hemisphere, 2 openable lower hemisphere hulls, 4 actuating units and a space for carrying microrobots.The mother robot has a diameter of 250mm. One actuating unit is composed of 2 servo motors and a water-jet thruster. By using the actuating units, robot can realize the motions on land and under the water.

    Underwater structure of the robotic system

    On-land structure of the robotic system

     
      研究の成果

        ・By the on-land quadruped walking motions, the robot can adapt to a variety of terrain. The maximal walking speed of the robot is 22.5cm/s.
        ・The robot has a vectored water-jet mechanism. The actuating force can be controlled by PWM signals. The maximal horizontal speed of the robot is 16.1cm/s.
        ・Implement the multi-robot cooperation.

    On-land locomotion

    Underwater locomotion

     

    Multi-robot cooperation

     
      研究に関するビデオ

    Walking motions under different terrain

    Amphibious locomotion

    Multi-robot on-land cooperation

    Multi-robot underwater cooperation

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