20713 防水モジュール構造を採用した汀線測量ロボットとその誘導方法(水中ロボット,OS.13 水中ロボット,学術講演)

概要

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One of the main work is survey work at shoreline in port areas. For instance, harbor-masters survey shorelines to maintain encroached beach, and some work are carried out on weak terrain. Consequently, the primary working force is still human-intensive although the mechanization is desired. Therefore, we are on the studying automated shoreline surveying system using walking robot which does not damage the terrain seriously. And, we developed prototype robot applied watertight module structure. The joints are independent respectively to each other as watertight type joint units. Moreover, legs and the body unit are able to be detached easily in case of maintenance. In this paper, we describe the design concepts and the features of the prototype robot applied watertight module structures. And, this paper will mainly consist of the applied topographic survey and simple navigation method regarding amphibious traveling for our system.
一般社団法人日本機械学会の論文
2008-03-13