Abstract
Ocean, the familiar environment for us, is one of attractive environments because of abundant mineral resources, energy, marine lives, and the research and development related with underwater environment are growing up rapidly during recent decades. Underwater robots are expected and developed as efficient tools for the operation in place of human beings. The autonomy and intelligence of underwater robots are one of the most important research topics, and highly automated underwater robots, Autonomous Underwater Vehicles (AUVs), are expected as one of new tools for underwater operations. The required missions of AUVs are getting more and more complicated, and underwater manipulators of AUVs are needed to accomplish complex tasks. In this research, the concept of an underwater robot hand to capture marine creatures are proposed and evaluated by experiments.
