Shoreline Survey Method using Amphibious Walking Robot and the Navigation Method Regarding Amphibious Traveling

摘要

We are on the studying automated topographic survey work in waterside areas such as shoreline and developing automated surveying system. We consider that this is the same also in the waterside or underwater because walking machine does not damage the terrain seriously. Consequently, we developed prototype amphibious walking robot which had some unique features in the structure and composition in order to experiment our proposed survey method in real sea. In this paper, the feature of design of prototype amphibious walking robot which applied moduled watertight structure will be described in detail. And, this paper will mainly consist of the applied topographic survey and simple navigation method regarding amphibious traveling for our system, and the result of the trials will be reported.