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This paper describes improvement of a human-portable underwater robot for use in soil core sampling. We developed the soil sampling robot in our previous work. However, the efficiency of translational motion of that robot was low because of high drag force attributable to its shape. In addition, an operator had to control all motions of the robot manually using a controller. To overcome such shortcomings...
This paper presents development and motion evaluation of a human-portable underwater robot for soil core sampling. The developed robot is a remotely operated vehicle (ROV) with a core sampling pipe. In general, core sampling devices are heavy and penetrate into the soil by their own weight. In contrast, the developed robot is lightweight and penetrates the soil by its thrust force. This robot has...
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