Abstract
Telexistence system can provide artificial experiences that we cannot experience in everyday life. In our previous work, we proposed an underwater telexistence system that provides swimming experience with dolphins by using a towing underwater robot. In this paper, details of a developed robot are described. The robot has a 2-DOF gimbal for a camera and 2 sets of rudders. Head motion of an operator synchronizes with that of the camera gimbal to provide feeling of presence. The rudder can be telecontrolled by the operator. A 9 axis motion tracking sensor is installed to achieve motion stabilization.
