NDLI: First field-test of seabed walking robot CR200

Content Provider	IEEE Xplore Digital Library
Author	Bong-Huan Jun Hyungwon Shim Banghyun Kim Jin-Yeong Park Hyuk Baek Seongyeol Yoo Hangoo Kang Gyeong-mok Lee Pan-Mook Lee
Copyright Year	2013
Description	Author affiliation: Ocean Syst. Eng. Res. Div., Korea Inst. of Ocean Sci. & Technol., Daejeon, South Korea (Bong-Huan Jun; Hyungwon Shim; Banghyun Kim; Jin-Yeong Park; Hyuk Baek; Seongyeol Yoo; Hangoo Kang; Gyeong-mok Lee; Pan-Mook Lee)
Abstract	This paper reports the results of underwater test of the CR200 seabed walking robot (Crabster) conducted from 24 June to 12 July 2013 in the pier of South Sea Research Institute of KIOST. Through the test, we have successfully brought the concept of Crabster to reality, which is six-legged seabed walking robot designed to work in high current and low visibility environment. For the initial tests, the CR200 was only submerged 7 meters, so we checked the watertight, ballast and test its main capabilities. Then over the next several days we gathered data from its sensors including sonar scans and acoustic camera. In order to detect the disturbance from the current, the CR200 was equipped with 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. This paper reports brief overview of the CR200 robot design, and introduces the results of first underwater test.
Sponsorship	IEEE Oceanic Eng. Soc.
Starting Page	1
Ending Page	6
File Size	1338252
Page Count	6
File Format	PDF
ISBN	9780933957404
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-09-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Legged locomotion Cameras Acoustics Sonar Joints Robot vision systems field-test CR200 Crabster underwater walking robot survey and inspection of seafloor hexapod robot
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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Development of seabed walking robot CR200

Experience on underwater artefact search using underwater walking robot Crabster CR200

Control architecture for stable gait of a six-legged subsea robot CR200

Preliminary design of the multi-legged underwater walking robot CR200

Operating software for a multi-legged subsea robot CR200

Application of high resolution scanning sonar with multi - Legged underwater robot

Application of scanning sonar using multi - legged underwater robot's degree of freedom

Multi-legged ROV Crabster and an acoustic camera for survey of underwater cultural heritages

Development of leg with arm for the multi-legged seabed robot “CR200”

First field-test of seabed walking robot CR200

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