Crabster CR200, huge six-legged underwater robot, Korean Institute of Ocean Science and Technology (KIOST)

[Airicist]

Manufacturer - Korean Institute of Ocean Science and Technology (https://pr.ai/showthread.php?5879)
(KIOST) and Korea Research Institute Ship and Ocean engineering (https://www.iala-aism.org/organisation/kriso-korea-research-institute-of-ships-and-ocean-engineering) - KRISO

Bong Huan Jun

youtube.com/@bonghuanjun9685 (https://www.youtube.com/@bonghuanjun9685)

[Airicist]

Article "Huge Six-Legged Robot Crabster Goes Swimming (https://spectrum.ieee.org/automaton/robotics/industrial-robots/six-legged-underwater-robot-crabster)"

by Jason Falconer
July 30, 2013

[Airicist]

https://youtu.be/N0EBPf_9yHI

Crabster CR200 Posture Control (KIOST)

Published on Apr 18, 2013


Our dream is coming true!

[Airicist]

https://youtu.be/MVfzIPBAyEs

Crabster CR200 1st underwater test at SSRI (KIOST)

Published on Jul 19, 2013


24 June to 10 July 2013 at SSRI.
Conducted by KIOST.
Supported by Ministry of Oceans and Fisheries Korea.

[Airicist]

https://youtu.be/ex8N6y71Nb0

Crabster CR200 Discovery Channel Daily Planet Crabster 05 15 2013

Published on Oct 6, 2013

[Airicist]

https://youtu.be/xP-rXgNr0qA

Crabster CR200 onland walking without skin

Published on Mar 15, 2014


Crabster CR200 continuous walking on land, carefully and carefully step by step!!

[Airicist]

https://youtu.be/boxjKDwmZws

Crabster CR200 on-land walking with full fabrication

Published on Apr 1, 2014


Crabstrer CR200 on-land walking with full fabrication before dive into the Ocean Engineering Basin of KRISO, KIOST.
Pentapody, tetrapod, discrete and continuous(wave) gait walking.

This work was funded by Ministry of Oceans and Fisheries (MOF) of R. of Korea

[Airicist]

https://youtu.be/P1VN_Z0-hPw

Crabster CR200 manipulation mode with full fabrication(KRISO)

Published on Apr 4, 2014


CR200 has two arms in its forward legs. For underwater manipulation, CR200 supports its body with four legs and deploy its two arms, and push its tool-sled. In this video, the forward arms' motion are replayed 4 times faster than original video.
This work was conducted in Korea Research Institute of Ships & Ocean Engineering (KRISO) by funding of Ministry of Oceans and Fisheries (MOF)

[Airicist]

https://youtu.be/BOdLcy8hNoI

Crabster CR200 underwater walking in Ocean Engineering Basin of KRISO

Published on Apr 5, 2014


Crabby (Crabster CR200) weighs nearly 700kg with all equipment in air. It is too heavy to walk with tripod gait. So Crabby walks with pentapody or tetrapod gait in air. However, Since Crabby weighs about 200kg in water, it can walk more easily in water. Crabby walks with tripod gait which is fastest static gait of six-legged robot.

This work was conducted by KRISO with funding from MOF Korea.

[Airicist]

Article "Meet Crabster, the robotic CRAB that could revolutionise underwater exploration and reveal an almost entirely unknown world (https://www.dailymail.co.uk/sciencetech/article-2590545/Meet-Crabster-giant-robotic-CRAB-revolutionise-underwater-exploration.html)"

The Korea Institute of Ocean Science and Technology will test the robot in the Yellow Sea where Crabster will help archaeologists explore shipwrecks
The 1,400lbs (635kg) robot is designed to scuttle along the sea floor like a real crustacean and can endure strong underwater currents
Engineers have fitted the mechanical crab with 11 cameras so it can be used in exploration projects and fixing pipelines

by Sarah Griffiths
March 27, 2014

[Airicist]

https://youtu.be/O0s26cCi51g

CRABSTER CR200 was deployed in SEWOL ferry disaster site

Published on May 25, 2014


Crabster CR200 under development in KRISO with funding of
MOF was deployed to assist rescue operation of Sewol disaster
from 21 April to 20 May.

During the initial survey, Crabster surveyed Sewol ferry from a
distance of 70 meters using its acoustic equipment. And then
Crabster surveyed seafloor 500 meters away from Sewol ferry.

Crabster launched 13 times, and spent 15 hours 36 minutes in
water and 11 hours 21 minutes on seafloor during its 30-day
stay in Jindo.

[Airicist]

https://youtu.be/O8361Uq97DQ

Crabster CR200: New Record of Underwater Walking Speed - 0.5 knots

Published on Mar 25, 2015

[Airicist]

https://youtu.be/xe8BdIvw62s

Crabster CR200: Automatic way point tracking with fixed heading (crab gait)

Published on Mar 26, 2015

[Airicist]

https://youtu.be/hZuwOkDNypM

Crabster CR200: Waypoints and heading tracking

Published on Mar 26, 2015

[Airicist]

https://youtu.be/GGOTt5Rdp3E

Crabster CR200: Target Locked Crab Gait

Published on Mar 28, 2015

[Airicist]

https://youtu.be/GPV-3IKXC_w

Crabster CR200: First forward movement flapping

Published on Apr 4, 2015

[Airicist]

https://youtu.be/cUTX81nVuAY

Crabster CR200: fapping and paddling

Published on Apr 5, 2015


The thrust force is function of amplitude, frequency and phase difference of the periodic motions.

[Airicist]

https://youtu.be/CIGu_qT9PJA

Crabster CR200 Six legs flapping

Published on Apr 8, 2015


First flying by six-leg flapping.
Forward speed is about 0.7knots (0.35m/s)

[Airicist]

https://youtu.be/v_hepgVIg90

Crabster CR200 six legs butterfly flapping

Published on Apr 16, 2015


April 1st 2015, Ocean Engineering Basin of KRISO

[Airicist]

https://youtu.be/bZ6vVlMZGkQ

Crabster CR200 : Underwater manipulation

Published on May 8, 2015

[Airicist]

https://youtu.be/NrPq5zvH1WU

Crabster CR200 : Pottery recovering

Published on May 8, 2015

[Airicist]

https://youtu.be/M7KR-AL1Ab0

Crabster CR200 : Iron pot

Published on May 11, 2015


Iron pot on seabed was handled by two manipulators of CR200.
The scene was recorded by acoustic and optic camera at the same time.

[Airicist]

https://youtu.be/CrlNXjQ-vJg

Crabster CR200 : Arm deploy for underwater manipulation

Published on Jun 7, 2015

[Airicist]

https://youtu.be/FaHQrT5o9gU

Crabster CR200 : Arm deploy for underwater manipulation

Published on Jun 7, 2015


CR200 is making coning motion for scanning sonar.
This function reduces surface reverberation of scanning sonar significantly.

[Airicist]

https://youtu.be/UmXvYD1Zdl4

Crabster CR200 Discovery Channel 2015, Canada

Published on Jan 10, 2016

[Airicist]

https://youtu.be/o7b6jEceLdc

Crabster CR200 on-land demonstration in COEX June 2016

Published on Jul 26, 2016

[Airicist]

https://youtu.be/Gqv_YYoB8xA

Crabster CR6000 vertical flapping

Published on Oct 12, 2016


Six-legged underwater walking and flying robot Developed by KRISO

[Airicist]

https://youtu.be/4WUWY9VdC9M

Crabster CR6000 tank test

Published on Jun 2, 2017


We tested the fundamental functions of Crabster CR6000 in large tank on Sep. 2016.

[Airicist]

https://youtu.be/ppirpe18e-4

Crabster CR6000 Sea trial at 4,743m seafloor of Pacific Ocean

Published on Jun 22, 2017


with R/V Onnuri on December 2016