Summary
An experimental model and a prototype model were made for development of underwater inspection robot. The experimental model which is not watertight was made for overground test. It was used for basic research and a debug tool for program development. The prototype model which is watertight was developed after tests of the experimental model. The prototype model is the first walking robot in the world that has succeeded in walking on sea bed.
The robots named “AQUAROBOT” are six-legged articulated “insect type” robots. Each leg has three articulations and they are driven semi-directly by DC motors that are built inside of the leg. A leg has a touch sensor on the foot. All the motions are controlled by a micro computer. Therefore, the robots can walk on irregular terrain and can walk in any direction without changing its quarter.
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References
Iwasaki M. et al, “Development on Aquatic Walking Robot for Underwater Inspection”, Report of the Port & Harbour Research Institute, Vol. 26 No. 5, Dec.1987, pp. 393–422
Hirose S.,Nose M.,Kikuti H,Umetani Y., “Adaptive Gait Control of Duadruped Walking vehicle”, Proc. of the 1st Int’l Symp. of Robotics Research, MIT Press, 1983
Marvin Russel Jr., “ODEX1 the First Functionoid”, Unmanned Systems, Vol. 2, No. 2, 1983
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© 1989 Springer-Verlag Berlin Heidelberg
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Akizono, J., Iwasaki, M., Nemoto, T., Asakura, O. (1989). Development on Walking Robot for Underwater Inspection. In: Waldron, K.J. (eds) Advanced Robotics: 1989. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83957-3_44
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DOI: https://doi.org/10.1007/978-3-642-83957-3_44
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-83959-7
Online ISBN: 978-3-642-83957-3
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