AMADEUS: advanced manipulator for deep underwater sampling

Lane, David M.; Davies, J.B.C.; Robinson, G.; O'Brien, D.J.; Pickett, M.; Jones, David A.; Scott, E. Kilburn; Wang, Y.; Casalino, Giuseppe; Bartolini, G.; Cannata, Giorgio; Ferrara, Antonella; Angelletti, D.; Coccoli, Mauro; Veruggio, G.; Bono, R.; Virgili, P.; Bruzzone, Gabriele; Canals, Miquel; Pallas, R.; Gracia, E.; Smith, Colin

doi:10.1109/robot.1997.619280

Cited by 21 publications

(2 citation statements)

References 7 publications

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“…From our perspective, we are interested in the application of flexible actuators to the synthesis of fish propulsion mechanisms. In particular, the "elephant's trunk" actuator [106], currently under development as a finger for the AMADEUS subsea dextrous hand [107], offers potential for simple and robust implementation of devices based on either the thunniform mode or on undulating fins, for propulsive or stabilizing action, respectively. Details of design and practical results from the testbed under development will be the subject of future publications.…”

Section: Discussionmentioning

confidence: 99%

Review of fish swimming modes for aquatic locomotion

Sfakiotakis

Lane

Davies

1999

IEEE J. Oceanic Eng.

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Several physico-mechanical designs evolved in fish are currently inspiring robotic devices for propulsion and maneuvering purposes in underwater vehicles. Considering the potential benefits involved, this paper presents an overview of the swimming mechanisms employed by fish. The motivation is to provide a relevant and useful introduction to the existing literature for engineers with an interest in the emerging area of aquatic biomechanisms. The fish swimming types are presented, following the well-established classification scheme and nomenclature originally proposed by Breder. Fish swim either by body and/or caudal fin (BCF) movements or using median and/or paired fin (MPF) propulsion. The latter is generally employed at slow speeds, offering greater maneuverability and better propulsive efficiency, while BCF movements can achieve greater thrust and accelerations. For both BCF and MPF locomotion, specific swimming modes are identified, based on the propulsor and the type of movements (oscillatory or undulatory) employed for thrust generation. Along with general descriptions and kinematic data, the analytical approaches developed to study each swimming mode are also introduced. Particular reference is made to lunate tail propulsion, undulating fins, and labriform (oscillatory pectoral fin) swimming mechanisms, identified as having the greatest potential for exploitation in artificial systems.

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Section: Discussionmentioning

confidence: 99%

Review of fish swimming modes for aquatic locomotion

Sfakiotakis

Lane

Davies

1999

IEEE J. Oceanic Eng.

Self Cite

1,502

936

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“…Sensors in the finger tips provide tactile feedback regarding the nature and state of the grasp. An advanced hierarchical control architecture is used to operate the gripper (Lane et al, 1997).…”

Section: Introductionmentioning

confidence: 99%

The Amadeus project: an overview

Robinson

Davies

1997

Industrial Robot: An International Journal

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Looks at Amadeus (advanced manipulator for deep underwater systems) which is an international subsea manipulator project, funded by the European Community Marine Science and Technology Research Programme. The object is to improve the sampling and manipulation capabilities of underwater systems, through the development of advanced grippers and manipulation control techniques. Says that Phase 1 of the project produced an innovative dextrous gripper system for laboratory use. The objective of phase 2 is to produce more robust systems offering enhanced functionality and suitability for trials in the marine environment. Provides an overview of the Amadeus project describing the achievements of the first phase and the proposed developments for phase 2. Research articles The Amadeus project: an overviewAmadeus phase 1 was supported by the European Community under the Marine Science and Technology (MAST II) research directive grant number: mas2ct920016. Amadeus phase 2 is funded under MAST III grant number: mast3ct950024 amadeus. We would like to acknowledge collaboration with and ownership of sections of the work described in this paper by our colleagues: J. Jones in Mechanical Engineering; D.

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