Conceptual Design of Autonomous Underwater Walking Robot for Mine Hunting

Abstract

Underwater vehicles are becoming the alternatives of the traditional way of mine searching based on Mine Hunter Coastal (MHC) or Mine Sweeper Hunter (MSH). The floating vehicles, however, fundamentally have difficulties to operate in strong current and turbid water area. A hexapod underwater walking robot CRM is proposed for mine hunting in sea-current, turbid, rocky, and burying area. We designed the CRM by extending and adapting the Crabster technologies to the operational concept of mine hunting. The operational concept, functional requirements and conceptual design of CRM are presented in this paper. The focus is on the designing the operating concept and robot platform.