Development of Seabed Walking Robot CR200 and Its Application Strategy on the Underwater Exploration

Authors
Bong-Huan Jun, Pan-Mook Lee, Banghyun Kim, Hyungwon Shim

한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea

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.

(Pressed in Korean)