Redesign of Cartesian Diver for Underwater Expression Combining Dynamic Fabrication with Non-contact Manipulation

  • Amy KoikeEmail author
  • Kazuki Takazawa
  • Satoshi Hashizume
  • Mose Sakashita
  • Daitetsu Sato
  • Yoichi Ochiai
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 850)


In this study, we aim to combine dynamic fabrication with non-contact manipulation system applying the mechanism of Cartesian Diver. To achieve this, we propose the design method for underwater objects and non-contact manipulation technique using water pressure with PID control. We successfully designed and manipulate the object by our method. We discussed the principles and methods to create a digitally designed and fabricated the diver and to stabilize it in the middle of water.


Dynamic fabrication PIDcontrol Cartesian Diver Underwater 


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  • Amy Koike
    • 1
    Email author
  • Kazuki Takazawa
    • 1
  • Satoshi Hashizume
    • 1
  • Mose Sakashita
    • 1
  • Daitetsu Sato
    • 1
  • Yoichi Ochiai
    • 1
  1. 1.University of TsukubaTsukubaJapan

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