Development and Underwater Test of Seabed-Walking-Robot Prototype Crabster CR200

Authors
Bong-Huan Jun, Hyungwon Shim, Banghyun Kim, Jin-Yeong Park, Seong-Yeol Yoo, Hyuk Baek, Hangoo Kang, Gyeong-Mok Lee, Bo-Ram Kim, Sungwoo Park, Go Choi, Pan-Mook Lee

수중로봇기술연구회 추계학술대회, 2013, Changwon in Korea

Abstract : This paper reports the on-land and underwater test results of seabed walking robot Crabster CR200, which was conducted from June 24 to July 12, 2013 in Geoje South Sea Research Institute (SSRI) of KIOST. In the first underwater test, we verified 1) watertight of all the seal in thirty joints and pressure vessels, 2) identification of underwater topography and structures within 100m radius using high resolution scanning sonar on the top of CR200, 3) real-time identification of underwater objects within 10 meters-range using acoustic camera in front of CR200, 4) identification of objects  y the combination of optical cameras and LED lamps, 5) underwater localization of CR200 using PS and USBL, 6) gathering the environment data such as direction and velocities of current, onductivity Temperature and Depth (CTD) data, 7) posture and walking control using six legs, 8) measuring and visualization of the underwater movement of CR200 using Attitude Heading Reference System.

(Pressed in Korean)