BactoBot：細菌に着想を得た低コスト軟体水中ロボットによる海洋探査
BactoBot: A Low-Cost, Bacteria-Inspired Soft Underwater Robot for Marine Exploration
細菌の鞭毛運動を模倣し、12本の柔軟なシリコーン製アームを十二面体フレームに配置した低コスト軟体水中ロボットを開発し、DIY手法で製作して水中での前進・旋回性能を実証した。
著者: Rubaiyat Tasnim Chowdhury, Nayan Bala, Ronojoy Roy, Tarek Mahmud
分類: cs.RO
原文アブストラクト
Traditional rigid underwater vehicles pose risks to delicate marine ecosystems due to high-speed propellers and rigid hulls. This paper presents BactoBot, a low-cost, soft underwater robot designed for safe and gentle marine exploration. Inspired by the efficient flagellar propulsion of bacteria, BactoBot features 12 flexible, silicone-based arms arranged on a dodecahedral frame. Unlike high-cost research platforms, this prototype was fabricated using accessible DIY methods, including food-grade silicone molding, FDM 3D printing, and off-the-shelf DC motors. A novel multi-stage waterproofing protocol was developed to seal rotating shafts using a grease-filled chamber system, ensuring reliability at low cost. The robot was successfully tested in a controlled aquatic environment, demonstrating stable forward propulsion and turning maneuvers. With a total fabrication cost of approximately $355 USD, this project validates the feasibility of democratizing soft robotics for marine science in resource-constrained settings.