Flexible lengthening-shortening arm mechanism for an underwater vehicle

Yoshiki Iwamochi, Tasuku Miyoshi, Motoki Takagi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The goal of this study was to monitor and record the condition of an obstructed seabed by underwater robots instead of a diver's observations in a shallow area. It is difficult to investigate marine resources that live in deep water shaded by rock due to large and/or small rocks on the seabed. Therefore, a flexible lengthening-shortening arm with a camera unit for an underwater robot would be a suitable investigation resource. In this paper, we demonstrate the newly developed flexible lengthening-shortening arm mechanism (FLSAM) and experimental results of a path-tracing controller.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages816-820
Number of pages5
ISBN (Electronic)9781509067572
DOIs
Publication statusPublished - 2017 Aug 23
Externally publishedYes
Event14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan
Duration: 2017 Aug 62017 Aug 9

Publication series

Name2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

Other

Other14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
CountryJapan
CityTakamatsu
Period17/8/617/8/9

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Keywords

  • Obstacle Avoidance
  • Path-Tracing
  • Sliding Screw Mechanism
  • Small Camera
  • Underwater Robot Arm

ASJC Scopus subject areas

  • Control and Optimization
  • Instrumentation
  • Artificial Intelligence
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Iwamochi, Y., Miyoshi, T., & Takagi, M. (2017). Flexible lengthening-shortening arm mechanism for an underwater vehicle. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 (pp. 816-820). [8015921] (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2017.8015921