抄録
Authors have been developing an underwater robot that able to execute the object lifting operation. The robot has two vertical thruster that used for vertical movement control. At the object lifting operation, the thrust of these thrusters is used for lifting. We previously proposed the new mechanism "Passivity Posture Maintenance Mechanism for a Thruster", in order to use the thrust effectively and lift up an object easily. We also have already confirmed the effectiveness of this mechanism. Therefore, this paper presents to confirm about object lifting operation by the basic experiments in the sea.
