抄録
We join the NEDO robot project and engage in developing underwater robot system that investigates underwater infrastructure such as a dam and a river facility. In this paper, we propose reconfigurable surface/underwater robot system whose physical configuration can be changed according to working environment or task. We firstly discuss how to identify the position of an investigation system when it is hung by cable in the water. Both length and angle of cable are used to calculate tip of the cable, namely the position of the investigation system. We then build the prototype robot system and conduct the experiment with it in the real world, Tama River. We verify that the robot system can send visual data of the riverbed and position data of the investigation system.
