This paper proposes a new underwater robot for dam inspection. The proposed underwater robot contacts a dam body by using passive wheels. The contact force and the moving force are generated by four thrusters. To make various motions of the underwater robot, the four thrusters are driven antagonistically. Moreover, in order to increase pressing force to a dam body, negative-pressure effect plates are proposed. In this report, an overview of the robot system is described and the effectiveness of the proposed effect negative-pressure effect plates is demonstrated by some experimental results.
