Abstract
Precise motion control of underwater vehicles without mechanical noises is a technical issue on underwater observation. As a solution for the problem, we pay attentions to bio-mechanisms of underwater creatures, especially ribbon-like fins being used for attitude control. Bio-mechanisms of creatures are adapted to environment as a result of evolution. If the motor control mechanisms of the creatures can be introduced into underwater robots, there is a possibility that a high performance actuator will be realized. In this research, we have been trying to develop a biomimetic underwater actuator instead of screw propellers. As the material of a developing actuator, electroconductive polymer is used as an artificial muscle. We introduce the developing biomimetic actuator and the performance evaluation test of motion control experiments is discussed.
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