1P1-D26 Attitude Compensation for a Human-sized ROV During Motion of Manipultors
1P1-D26 水中ロボットマニピュレータの動作時における浮心移動機構を利用した本体姿勢補償

Norimitsu SAKAGAMI, Tomohiro UEDA, Mizuho SHIBATA, Hiroyuki OHNISHI, Shigeo MURAKAMI, Sadao KAWAMURA
2010 The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  
We have developed an a 七 titllde compensati ⊂) n system for a human − sized remotely operated vehicle ( ROV ) with dual arm based on shifting the center {〕 f blloyancy with respect to the center ofgravity . Shifting of the center of buoyancy is accomplished hy movable 且oat blocks . In this paper , we enhance the dynamic motion performance of the attitude compensation system
doi:10.1299/jsmermd.2010._1p1-d26_1 fatcat:lu6ynbzdjrgubjald2h4aril6i