Abstract
Coral has important value. In recent years, crown-of-thorns starfish is eating coral. It is necessary to rid the object for protect crown-of-thorns starfish. The object of this report is crown-of-thorns starfish. We have been developing underwater robot to protect the coral. This research make a device for rid of the object. The removal method is injection into the object. Therefore, the end-effector uses a continuous syringe. The end-effector is mounted to the manipulator. It is designed to emphasize maintenance and attachment. The object uses the model in the experiments. The effectiveness of this device is verified by the pool experiments.
