Attitude Control Mechanism for Underwater Robot with Flexible Plastic Film Body

摘要

This paper describes an attitude control mechanism for an underwaterrobot with a flexible plastic film body. Insulating fluid was poured intoa packaging resin film, the outer layer of the robot, to improve itspressure resistance under water. The attitude control mechanismconsisted of an arrangement of the insulating fluid and floating blocksinside the robot. The attitude control mechanism will allow threedimensionalnon-holonomical movements of the robot under water.