Abstract
Underwater robots are expected to be the new tool for investigation of ocean and seafloor. To obtain scientific data of wide area, the robot motion should be stable, e.g., robot is supposed to keep constant depth, velocity, height and so on. The motion control plays important role in the observations. We have developed two kinds of thrusters, 90W and 150W, which can produce approximately 2.5kgf and 4.Okgf thrust. In this paper, the property of the thrusters are described.
