What are the key mechanisms that make Crabster work?

Crabster is the robot for underwater exploration. So the most important key technology is the water proof and pressure resistant mechanism. Crabster is designed to be operated in 200 meters depth so it has to endure minimum 20 bar of the water pressure. The second is the harmonious and stable control of many motors in six legs. Crabster has six legs and thirty BLDC motors in the legs. To walk on the seafloor or explore underwater, Crasbster has to be control the motors harmoniously and stably. All joints are connected to the computer via CAN bus. The computer computes commands for the harmonious control of all joints by solving kinematics and dynamics of all the legs. Crabster can walk with various gait algorithms to explore on the seafloor. Crabster can perform posture control to survey or work on the seafloor.