Design and basic experiments of a waterproof mobile robot propelled by RS-Wave mechanism

In this research, we focus on developing a new propulsion mechanism and proposed “Rotary Surface Wave (RS-Wave) Mechanism.” RS-Wave mechanism generates propulsive force from the whole body and features a simple structure with water and dust tight properties. We have verified the mechanism with a prototype in the former studies. In this paper, the first mobile robot that applied RS-Wave mechanism is introduced. The design of this mobile robot is explained, and the performance of the robot is evaluated by several experiments.