Abstract
To survey the seabed area, underwater robots should equip the higher hovering performance to maintain the body stable. It is obvious that if the robots have three or more legs, the stability was ensured by the ground. Hence, we had developed six legged mechanism for this purpose and checked the operation of our prototype system in water, such as the walking and swimming tasks. In this paper, we demonstrate the experimental results of the thrust force in one legged motion and confirming the behavior of movement in water. The results that our prototype system was set at 0.1 kg (1.0 N) in water, and the thrust force generated in one leg motion was 0.24 N. It was shown that our prototype system could achieve the movement in water.
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