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Title:
FLOATING MOBILE BODY, FLOATING MOBILE BODY POSTURE CONTROL AND GROUP CONTROL
Document Type and Number:
WIPO Patent Application WO/2021/181754
Kind Code:
A1
Abstract:
The present invention provides a mobile body that is to float in a liquid or a gas. The present invention also performs posture control of the mobile body and performs group control of a plurality of the mobile bodies. The present invention is a mobile body 100 that moves while floating in a liquid or a gas. The mobile body comprises: an axially symmetrical rotary shell 101 that is watertight when in a liquid and airtight when in a gas; and a rotation control device 200 that is housed in the rotary shell. The rotation control device includes a first rotary shaft 212 of the rotary shell that extends in an axial direction that runs along the axis of symmetry, a second rotary shaft 262 that extends along the same axial direction as the first rotary shaft and can rotate free of the first rotary shaft, a first drive part 210 that makes the first rotary shaft rotate, and a second drive part 260 that makes the second rotary shaft rotate. The rotary shell and the rotation control device are rotatably held by the first rotary shaft, and a disk 270 is rotatably held so as to be centered on the second rotary shaft such that an outer diameter part of the disk does not contact the rotary shell.

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Inventors:
FUJIKAWA TARO (JP)
TANAKA KEITA (JP)
SUZUKI TSUYOSHI (JP)
Application Number:
PCT/JP2020/042157
Publication Date:
September 16, 2021
Filing Date:
November 11, 2020
Export Citation:
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Assignee:
UNIV TOKYO DENKI (JP)
International Classes:
B63G8/14; B63H1/12; B64C17/06; B64C29/00; B64C39/02; G05D1/08
Domestic Patent References:
WO2017212987A12017-12-14
Foreign References:
JPH07285475A1995-10-31
JP2007242056A2007-09-20
JPH0664599A1994-03-08
Other References:
ADACHI ET AL.: "Workspace and Dynamic Manipulability of Unconstrained Robot Manipulator in Water", JOURNAL OF ROBOTICS SOCIETY OF JAPAN, vol. 12, no. 6, 1994, pages 863 - 871, XP055857516
Attorney, Agent or Firm:
TOWA INTERNATIONAL PATENT FIRM (JP)
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