| 摘要 |
The present invention provides an underwater robot such that the position and orientation thereof is easily controlled to an arbitrary state. The underwater robot (200) comprises first propellers (31 to 34), second propellers (41, 42), third propellers (43, 44), fourth propellers (51, 52), and fifth propellers (53, 54) on first, second, and third axes perpendicular to one another. The first propellers (31 to 34) are aligned with the direction of the first axis and fixed to a frame (20). The second propellers (41, 42) are aligned with the direction of the second axis and fixed to the frame (20) in a first circle about the first axis in a first position in the direction of the first axis. The third propellers (43, 44) are aligned with the direction of the second axis and fixed to the frame (20) in a second circle about the first axis in a second position different from the first position in the direction of the first axis. The fourth propellers (51, 52) are aligned with the direction of the third axis and fixed to the frame (20) in a third circle about the first axis in a third position in the direction of the first axis. The fifth propellers (53, 54) are aligned with the direction of the third axis and fixed to the frame (20) in a fourth circle about the first axis in a fourth position different from the third position in the direction of the first axis. |
