The deep sea of the 4,000m grade is a treasure house of resources. However, there are no precise maps about the sea bottom shape. So, the authors have developed deep-sea drone with functions to make sensing marine bottom and make maps of the 4,000m depth grades. The drone shape durable in the deep sea is only a sphere. The authors have made a prototype of deep-sea drone by use of spherical ultrasonic motors. The authors have succeeded in driving it in underwater. Index Terms-Ultrasonic motor,

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... ep sea, drone, and spherical motor. Shigeki Toyama received his Ph.D. degree in engineering from University of Tokyo, Tokyo, Japan, in 1981. Now he works at Tokyo University of Agriculture and Technology. His current research interests include robotics, actuator, and space and deep-sea technology. Uichi Nishizawa received his Ph.D. degree in Engineering from Tokyo University of Agriculture and Technology, Tokyo, Japan, in 2008. Now he works at Tokyo University of Agriculture and Technology. His current research interests include robotics, aerospace engineering, and welfare technology.