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

Tadami, Naoaki; Isak, Keita; Nakatake, Toyoharu; Fujiwara, Ami; Yamada, Yasuyuki; Nakamura, Taro; Sugesawa, Makoto; Yoshida, Hiroshi

dc.contributor		es-ES
dc.creator	Tadami, Naoaki
dc.creator	Isak, Keita
dc.creator	Nakatake, Toyoharu
dc.creator	Fujiwara, Ami
dc.creator	Yamada, Yasuyuki
dc.creator	Nakamura, Taro
dc.creator	Sugesawa, Makoto
dc.creator	Yoshida, Hiroshi
dc.date	2018-09-01
dc.date.accessioned	2018-12-04T14:32:12Z
dc.date.available	2018-12-04T14:32:12Z
dc.identifier	http://revistas.utp.ac.pa/index.php/memoutp/article/view/1999
dc.identifier.uri	http://ridda2.utp.ac.pa/handle/123456789/5774
dc.description	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.	es-ES
dc.format	application/pdf
dc.language	spa
dc.publisher	Universidad Tecnológica de Panamá	es-ES
dc.relation	http://revistas.utp.ac.pa/index.php/memoutp/article/view/1999/2935
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	https://creativecommons.org/licenses/by-nc-sa/4.0/
dc.source	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	es-ES
dc.subject	Excavation robot; earth auger; Seabed exploration	es-ES
dc.title	Proposal Of Propulsion Unit Based On Earthworm Setae For Underwater Excavation Robot	es-ES
dc.type	info:eu-repo/semantics/article
dc.type	info:eu-repo/semantics/publishedVersion

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2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018 [52]
CLAWAR 2018: 21st International Conference. Panama City, Panama during 10 – 12 September 2018.

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