다관절 수중보행로봇의 위치 유지 성능 평가

Abstract

In this paper, station keeping performance of a seabed walking robot Crabster is estimated through experimental study using circulating water channel and 1/4 scaled Crabster model. For experiment, we arranged 3 different flow direction( head angle, quatering angle, and beam angle) and 3 different posture of model(head down, even posture, and head up). From the results of model test, the critical velocity of real scale robot is evaluated.