Creation and drive evaluation of jellyfish type autonomous unmanned submersible

摘要

Submersible research vehicles and autonomous underwater vehicle (AUV) have been used for observation of underwater conditions, in addition to the technique of fixed-point observation. However, such research vehicles and conventional AUV are difficult to control, are expensive, and are usually made with nonbiodegradable materials such as metals. In contrast, jellyfish is the most efficient swimmers, traveling for long distance with saving energy by drifting in the ocean, its body can be decomposed after death, and safe for surrounding creatures. Therefore, we are developing the jellyfish-mimic AUV. In this study, we report a silicone-based hydraulically-driven soft actuator that can make a bending motion of umbrella-shaped bell of artificial Jellyfish. The behavior of the actuator in salt water was evaluated by image analysis, and the shrinkage factors of gel robots were compared with that of real jellyfish. Consequently, we have concluded there is a possibility that this actuator can reproduce jellyfish movement.