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심해용 크랩스터 CR6000 시스템의 실해역 시험 결과The sea Trial of Deep-sea Crabster CR6000 System

Other Titles
The sea Trial of Deep-sea Crabster CR6000 System
Authors
전봉환유승열이판묵박진영심형원백혁
Issue Date
2017
Publisher
대한임베디드공학회
Keywords
Crabster; CR6000; Deep-sea robot; Underwater walking; Six-legged robot; Sea-trial
Citation
대한임베디드공학회논문지, v.12, no.5, pp 331 - 341
Pages
11
Journal Title
대한임베디드공학회논문지
Volume
12
Number
5
Start Page
331
End Page
341
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/603
DOI
10.14372/IEMEK.2017.12.5.331
ISSN
1975-5066
Abstract
This paper presents the sea-trial results of Crabster CR6000 which is a deep-sea walking robot developed by KRISO in 2016. Crabster CR6000 is designed to inspect deep-sea environment rejecting the disturbance on the silent and calm abyssal area. The sea-trial was conducted at the East Sea and the Philippine Sea on December 2016. The Crabster CR6000 undocked successfully from the Shuttle after touchdown on the sea-bed and walked out on the soft sediment soil of the 4,743m seafloor at the fourth diving in the Philippine Sea. The advanced technologies and capabilities of CR6000 were verified from the operational and functional test conducted in the sea-trial. The experimental data acquired from the sea-trial were summarized and the first experience of the deep-sea walking robot was presented in this paper.
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