JDR Vol.12 No.3 pp. 432-445
doi: 10.20965/jdr.2017.p0432


Development of a Remotely Controlled Semi-Underwater Heavy Carrier Robot for Unmanned Construction Works

Shin’ichi Yuta

New Unmanned Construction Technology Research Association (UC-Tec)
Toranomon KT Building Room#304, 5-11-15, Toranomon, Minato-ku, Tokyo 105-0001, Japan

Corresponding author

September 25, 2016
April 6, 2017
Online released:
May 29, 2017
June 1, 2017
unmanned construction, urgent disaster restoration, utilization range expansion of unmanned construction, semi-underwater vehicle, machine guidance for tele-operated construction machines

We have been developing the crawler dump type heavy carrier robot since 2014. This robot can effectively travel a distance of a few hundred meters both on land and in shallow water. Through the use of a remote control, the robot can carry out unmanned construction in cases of flooding and waterside disasters. This paper reports part of the results obtained during development. Specifically, we report ① the consideration on a scenario for construction during an emergency by using remotely controlled heavy machinery under flooding conditions; ② the testing and findings of the first heavy carrier robot prototype with regard to water resistance and travelling performance; ③ the method of operation guidance based on the display of estimated ego-position to control the traveling of heavy machinery remotely and the results of experiments.

  1. [1] H. Ikeya, “The Heisei Eruption of Mt. Unzen-Fugendake and Measures Against Volcanic Disasters,” Journal of Disaster Research, Vol.3, pp.276-283, 2008.
  2. [2] Y. Hiramatsu, T. Aono, and M. Nishio, “Disaster restoration work for the eruption of Mt Usuzan using an unmanned construction system,” Advanced Robotics, Vol.16, No.6, pp. 505-508, 2002.
  3. [3] Advanced Construction Technology Center, “Guidebook to emergency unmanned execution,” pp. 14-15, 2001 (in Japanese).
  4. [4] Home page of Unmanned Construction Systems Association, [accessed April 15, 2017]
  5. [5] N. Nagumo, M. Ohara, D. Kuribayashi, and H. Sawano, “The 2015 Flood Impact due to the Overflow and Dike Breach of Kinu River in Joso City, Japan,” Journal of Disaster Research, Vol.11, pp. 1112-1126, 2016.
  6. [6] Home page of New Unmanned Construction Technology Research Association, [accessed April 15, 2017]
  7. [7] K. Fujino, T. Funabasama, and S. Yuta, “A Novel Development of Unmanned Construction System – Vol.1 An Overarching Concept and basic experiments–,” Proceedings of 15th Symposium on Construction Robots, O-53, 7pp., Osaka, Sept. 2015 (in Japanese).
  8. [8] Home page of Japan Amphibious Vehicle Organization, [accessed April 15, 2017]
  9. [9] M. Watanabe, F. Shibukawa, M. Maeda, H. Murakam, and Y. Hayase, “Characteristics Analysis of Driving Motion for Crawler Carrier on Uneven Terrain,” Proceedings of 15th Symposium on Construction Robots, Osaka, Sept. 2015 (in Japanese).
  10. [10] S. Suzuki, Y. Miura, T. Sunakawa, Y. Kihara, H. Ueno, H. Murakami, and Y. Hayase, “Development of a shallow water construction carrier by altering a common carrier,” Proceedings of the 2016 JSME Conference on Robotics and Mechatronics, 2A2-07, 4pp., Yokohama, June 2016 (in Japanese).
  11. [11] S. Suzuki, Y. Miura, T. Sunakawa, Y. Kihara, H. Ueno, H. Murakami, and Y. Hayase, “Engine cooling property of amphibian construction carrier by snorkel,” Proceedings of 16th Symposium on Construction Robots, P2-08, 6pages, Tokyo, Sept. 2016 (in Japanese).
  12. [12] Technical Committee, Unmanned Construction Association, Recent Unmanned Construction Technologies for Volcano Erosion Control at Mt. Unzen-Fugendake, Construction Plan of Construction, No.740, pp. 48-52, Oct., 2011, (in Japanese).
  13. [13] K. Tateyama, “The present conditions and future Prospects in Computerized Construction,” Journal of Japan Construction Machinery and Construction Association, Vol.66, No.4, pp.13-17, Apr. 2014 (in Japanese).
  14. [14] K. Ihara, H. Kuroki, and S. Sakamoto, “A Novel Development of Unmanned Construction System – Examination of the operation guidance –,” Proceedings of 16th Symposium on Construction Robots, O5-3, 7pp., Tokyo, Sept. 2016 (in Japanese).
  15. [15] Report of COCN (Council on Competitiveness-Nippon), “2012 Project on Disaster Response Robots and their Operation Systems,” pp. 37-39, March 2013, [accessed April 15, 2017]
  16. [16] Home page of SIP (Cross-ministerial Strategic Innovation Promotion Program by Japanese Government), Area of Infrastructure Maintenance, Renovation, and Management [accessed April 15, 2017]

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, IE9,10,11, Opera.

Last updated on Oct. 20, 2017