해저보행로봇 CR200의 개발과 수중탐사 활용방안

Abstract

A seabed walking robot named CR200 was developed for the exploration of high tide and low visibility environment. The CR200 is 6-legged underwater walking robot with equipment for tide and turbid environment. The CR200 provides stable posture in the sea current area, which enables the acoustic equipment to get clear acoustic images. The CR200 stablizes its body posture against to the current based on the mechanical contact between feet and seabed. In order to improve the tumble stability in tidal current, the CR200 actively controls the body posture and feet position according to the center of pressure (COP) criteria. The first sea-trial will be conducted in 2013, and then a series of exploration will be conducted from 2014 in coastal area of Korea. In this paper, the development purpose and results of CR200 are introduced with preliminary operation results of mission sensors. The application strategy on underwater exploration are also presented.osture in the sea current area, which enables the acoustic equipment to get clear acoustic images. The CR200 stablizes its body posture against to the current based on the mechanical contact between feet and seabed. In order to improve the tumble stability in tidal current, the CR200 actively controls the body posture and feet position according to the center of pressure (COP) criteria. The first sea-trial will be conducted in 2013, and then a series of exploration will be conducted from 2014 in coastal area of Korea. In this paper, the development purpose and results of CR200 are introduced with preliminary operation results of mission sensors. The application strategy on underwater exploration are also presented.