First field-test of seabed walking robot CR200

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.