Proposal Of Propulsion Unit Based On Earthworm Setae For Underwater Excavation Robot

Autor:	Yasuyuki Yamada, Ami Fujiwara, Makoto Sugesawa, Keita Isaka, Hiroshi Yoshida, Taro Nakamura, Toyoharu Nakatake, Naoaki Tadami
Jazyk:	Spanish; Castilian
Rok vydání:	2018
Předmět:	biology Earthworm Excavation robot earth auger Seabed exploration Seta Robot Excavation Propulsion Underwater biology.organism_classification Geology Unit (housing) Marine engineering
Zdroj:	Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines-CLAWAR 2018; 369-377 Repositorio Institucional de documento digitales de acceso abierto de la UTP Universidad Tecnológica de Panamá instacron:U Tecnológica de Panamá Scopus-Elsevier
Popis:	In this paper, we developed a propulsion unit with bristles imitating the setae of earthworm. This propulsion unit is installed in SEAVO: sub-seafloor excavation robot. To realize underwater excavation by SEAVO, it is necessary to move the soft and fluid sedimentary layer of seafloor surface. As a solution, we focused on the setae of earthworm which live in mud and soft soil. Then, we developed the propulsion unit with bristles imitating the earthworm's setae and measured the performance of the bristlesattached propulsion unit. Comparing the measurement result of the bristles-attached propulsion unit with the previous propulsion unit, we confirmed the usefulness of the bristles-attached propulsion unit.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c17e401fc7cfb901f11c7200a2dce19b http://ridda2.utp.ac.pa/handle/123456789/5774 Zobrazit plný text záznamu