Development of a Flexible Excavation Unit for a Peristaltic Crawling Seabed Excavation Robot

Nagai, Mamoru; Hirabayashi, Chiharu; Yamada, Yasuyuki; Nakamura, Taro; Yoshida, Hiroshi

doi:10.1142/9789813149137_0015

Cited by 8 publications

(1 citation statement)

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“…In the previous research, we developed a flexible earth auger and propulsion unit for bending excavation. [4][5] We have developed the robot "SEAVO" which can be excavated and bent and confirmed its usefulness in some experiments. 6 As the next stage of research, we propose excavation experiment underwater by SEAVO.…”

Section: Introductionmentioning

confidence: 75%

Proposal of Propulsion Unit Based on Earthworm Setae for Underwater Excavation Robot

et al. 2018

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In this paper, we developed a propulsion unit with bristles imitating the setae of earthworm. This propulsion unit is installed in SEAVO: sub-seafloor excavation robot. To realize underwater excavation by SEAVO, it is necessary to move the soft and fluid sedimentary layer of seafloor surface. As a solution, we focused on the setae of earthworm which live in mud and soft soil. Then, we developed the propulsion unit with bristles imitating the earthworm's setae and measured the performance of the bristlesattached propulsion unit. Comparing the measurement result of the bristles-attached propulsion unit with the previous propulsion unit, we confirmed the usefulness of the bristles-attached propulsion unit.

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Section: Introductionmentioning

confidence: 75%