다관절 해저로봇 크랩스터의 정밀 수중 탐사 작업을 위한 기능 시험

Abstract

This paper describes the recent experiments on enhanced functions for underwater walking, exploration, and work of multi-legged seabed walking robot, Crabster(CR200), which was developed for precise seabed exploration and underwater works under coastal area with strong tidal current. The experiments were conducted in ocean engineering tank of KRISO and off the Taean Ma Island in west sea of Korea. In the experiments, we tested the waypoint tracking control for autonomous walking, the hula-hoop motion control for acquisition of high quality seabed image from scanning sonar, and the workspace control for precise underwater work using manipulator. In this paper, we present the results of the experiments to verifythe performance of enhanced functions for precise exploration and work using CR200 in underwater environment.