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           Researches on autonomous underwater robots have become a hot spot all around the world. Many different autonomous underwater robots have been developed. Our research is about the spherical underwater robots equipped with water-jet-based propulsion system. The propulsion system makes it more flexible when robots carry out motion in water. And we also develop multi-robot system to realize the cooperative and collaborative tasks in the water.

      主な特徴

        ・Spherical shape, water-jet propulsion system (The original concept of the research)
        ・Multi vectored water-jet-based propulsion system.
        ・Flexible motions in surge, heave and yaw.
        ・Modularity of components, easy to be assembled.
        ・Intelligent altitude control; intelligent cooperation.

    Structure of the robotic system

    The vectored water-jet-based propulsion system

     
      コントロール システム 

           We designed a master- slave structure for the control hardware. The master side response for strategies decision, and the slave side response for driving the actuators and sensors. This two-level hardware structure make it more efficient in motion control and sensors feedback, and also improve the controllability in real-time.

     
    picture

    The architecture of the control system

    Hardware and control system

    Basic motions

     
      潜在的なアプリケーション

        ・Our goal is to make our robots can collaboratively carry our tasks.
        ・The robot can play a role of mother machine to carry those micro underwater robots.

    The collaborative observation

    Mother machine

      研究に関するビデオ

    球形水中ロボットの垂直運動実験

    球形水中ロボットの水平運動実験:(a)線形運動

    球形水中ロボットの水平運動実験:(b)270度回転

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