Measurement of the unevenness of sea bottom by an underwater walking robot

Abstract

“Aquarobot” is a robot that has been designed for underwater inspection in place of divers in port construction works. It has six legs similar to those of an insect. It is able to perform various kinds of inspection tasks while walking on a sea bed up to a depth of 50m. The walking velocity on a rubble mound is 1.4m/min. The most important pint is that it is able to measure the unevenness of rubble mound by the motion of the legs.