By Topic

Development of seabed walking robot CR200

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

7 Author(s)
Bong-Huan Jun ; Ocean System Engineering Research Division, Korea Institute of Ocean Science and Technology, Daejeon, Korea ; Hyungwon Shim ; Banghyun Kim ; Jin-Yeong Park
more authors

This paper describes the development result of an underwater walking robot CR200. The CR200 is 6-legged seabed walking robot designed to work in high current and low visibility environment. The along sectional shape of the body is streamlined to improve the hydrodynamic characteristics. In order to detect the disturbance from the current, we installed an acoustic Doppler current profiler (ADCP), an attitude heading reference system (AHRS) on the body and a contact force sensor on each foot. Acoustic camera and scanning sonar were installed for the inspection of the low visibility environment. The pressure canister and electric-driven six legs/arms guarantee the 200m pressure-resistant and watertight performance. The main frame was made of carbon fiber reinforced plastic (CFRP) in order to reduce the total weight. In this paper, we introduce the results of manufacturing and verify the design concept.

Published in:

OCEANS - Bergen, 2013 MTS/IEEE

Date of Conference:

10-14 June 2013