다관절 해저 보행 로봇의 유영 기능 실험

Abstract

This paper describes swimming function test of multi-legged seabed walking robot, Crabster(CR200). CR200 has been developed to apply to coastal waters that have harsh environmental conditions such as strong tidal current and invisibility. CR200 is hexapod robot for underwater exploration so, it can walk on the sea floor. Recently, we have added a new function of swimming and finished functional test in water tank. We designed four types of swimming function for CR200 and we have tested two types of swimming function. In this paper, we will describe the results of swimming function test in water tank.R200 is hexapod robot for underwater exploration so, it can walk on the sea floor. Recently, we have added a new function of swimming and finished functional test in water tank. We designed four types of swimming function for CR200 and we have tested two types of swimming function. In this paper, we will describe the results of swimming function test in water tank.