Abstract: A manipulator includes an arm, a plurality of servo motors, a plurality of servo amplifiers, and at least one bellows container. The arm includes a plurality of joints and links. The plurality of the servo motors are disposed in a first space in the arm and capable of driving each of the plurality of the joints. The plurality of the servo amplifiers are disposed in the first space and each of the plurality of the servo amplifiers controls each of the plurality of the servo motors. The at least one bellows container with one closed end which is positioned away from the arm and another open end includes a second space which is connected to the first space at the open end. In the manipulator, each of the first space and the second space is filled with oil, and each of the plurality of the servo amplifiers is connected with a cable for serial communication or power-line carrier communication.

Abstract: A manipulator includes an arm, a plurality of servo motors, a plurality of servo amplifiers, and a bellows container. The arm includes a plurality of joints and links. The plurality of servo motors is disposed in a first space in the arm and capable of driving each of the joints. The plurality of servo amplifiers is disposed in the first space and controls each of the servo motors. The bellows container includes a second space which is connected to the first space. In the manipulator, each of the first space and the second space is filled with oil, and the plurality of servo amplifiers are connected with a cable for serial communication or power-line carrier communication.

Abstract: A maintenance apparatus maintains a pipe under the sea. The maintenance apparatus includes: a first grip device that has a plurality of joints and includes a first grip portion holding releasably a first portion of the pipe; a second grip device that has a plurality of joints, includes a second grip portion holding releasably a second portion of the pipe, and is movable relative to the first grip device; a maintenance device that is mounted on at least one of the first grip device and the second grip device and is used for maintenance of the pipe; and a drive device that drives the first grip device and the second grip device such that the first grip device and at least portion of the second grip device move relative to each other.