2P1-H07 Development of An Underwater Robot with Soil Sampling Function obtained by Thrusters(Underwater Robot and Mechatronics(2))

Abstract

We propose a new bottom-sampler robot for core sampling operations in this paper. Conventionally, penetration of a sampler into soil is done by gravity in many cases. Another approach is use of large underwater robots with core sampler mechanisms. In both of them, the robot tends to be heavy. This paper describes the implementation of an underwater robot with soil sampling function obtained by thrusters. In the proposed robot, the robot has neutral buoyancy, and positioning of the sampling site and penetration of the sampler are performed by thrusters.