Operating software for a multi-legged subsea robot CR200

This paper introduces operating software for a multi-legged subsea robot, named CR200, which is a 200m-class walking robot. The CR200 can work in shallow and strong tidal current and high turbidity environment by crawling sea floor using six legs to survey shipwreck and scientific research. The CR200 system is similar to traditional remotely operated vehicle system having remote control unit. Operators control the CR200 using various programs running on computers in the remote control unit. Operating software consists of agent program, pilot program, 3D viewer program, dynamics simulation program, navigation program, video program, scanning sonar program, acoustic camera program, and current monitoring program. Agent program is main program which interfaces remote control unit with the CR200, and calculates joint angle reference of legs by posture and gait algorithm. Pilot program provides graphic user interface using joysticks and touch screen to steer the CR200. 3D viewer program displays 3D pose of the CR200, and dynamic simulation program is used to test a robot control without the CR200. We have developed agent program, pilot program, 3D viewer program, and dynamics simulation program. Navigation program and video program is commercial, and the other programs are provided by manufacturer.