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52 UEC Int’l Mini-Conference No.52

Development of Quasi Direct-Driven Fish-Shaped Robot

Muhammad Naveed RAZA *, Jun SHINTAKE
Department of Mechanical Engineering and Intelligent Systems
The University of Electro-Communications
Tokyo, Japan

Keywords: Fish -shaped robot, Qusai actuator, Underwater robot, Planetary gearbox

Abstract

Enhancing the efficiency and maneuverability of underwater robotics can be achieved through the
creation of fish-shaped robots with quasi direct-driven propulsion motors. This paper provides a thorough
analysis of the conception, construction, and assessment of quasi-direct-driven robots in the form of fish,
which are motivated by the principles of aquatic animal mobility. Using concepts from hydrodynamics,
mechanical engineering, control systems, and bio-inspired robots, the research takes an interdisciplinary
approach. The current study suggests that a high-energy-density structure can be simplified by combining
rigid and soft robotic techniques, more specifically, by using a flexible continuum body that is directly
powered by a motor coupled to a planetary gearbox. High-performance swimming should be made
possible by this structure and the robot's interaction with the surrounding water. Overall, this research
indicates the viability and effectiveness of bio-inspired design approaches in enhancing the capabilities

of underwater robotic systems.

*The author is supported by (MICH) MEXT Scholarship.