Underwater Mobile Manipulation: A Soft Arm on a Benthic Legged Robot

Liu, Jiaqi, Iacoponi, Saverio, Laschi, Cecilia , Wen, Li and Calisti, Marcello (2020) Underwater Mobile Manipulation: A Soft Arm on a Benthic Legged Robot. IEEE Robotics & Automation Magazine, 27 (4). pp. 12-26. ISSN 1070-9932

Full content URL: https://doi.org/10.1109/MRA.2020.3024001

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Item Type:Article
Item Status:Live Archive

Abstract

Robotic systems that can explore the sea floor, collect marine samples, gather shallow water refuse, and perform other underwater tasks are interesting and important in several fields, from biology and ecology to off-shore industry. In this article, we present a robotic platform that is, to our knowledge, the first to combine benthic legged locomotion and soft continuum manipulation to perform real-world underwater mission-like experiments. We experimentally exploit inverse kinematics for spatial manipulation in a laboratory environment and then examine the robot's workspace extensibility, force, energy consumption, and grasping ability in different undersea scenarios.

Keywords:Legged locomotion, Manipulators, Actuators, Kinematics, Underwater robots, Unmanned underwater vehicles, Soft robotics
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > Lincoln Institute for Agri-Food Technology
ID Code:46137
Deposited On:24 Aug 2021 13:35

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