Development of Underwater Robot Hand and Its Finger Tracking Control

Wang, Hua; Huang, Xiaodiao; Qi, Xindan; Meng, Qingxin

doi:10.1109/ical.2007.4339091

Cited by 7 publications

(4 citation statements)

References 5 publications

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“…While ROVs still could be used for these tasks, most of them lack tactile-or even force-feedback, which is crucial for fine manipulation operations. Attempts to include tactile feedback into underwater grippers are reported in several publications [5][6][7]. However, most of these are rated for depth ratings that are from the deep-sea areas or lack required gripping forces.…”

Section: Fine Manipulationmentioning

confidence: 99%

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How AI and Robotics can Support Marine Mining

Kampmann

Christensen

Fritsche

et al. 2018

Day 3 Wed, May 02, 2018

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This paper was selected for presentation by an OTC program committee following review of information contained in an abstract submitted by the author(s). Contents of the paper have not been reviewed by the Offshore Technology Conference and are subject to correction by the author(s). The material does not necessarily reflect any position of the Offshore Technology Conference, its officers, or members. Electronic reproduction, distribution, or storage of any part of this paper without the written consent of the Offshore Technology Conference is prohibited. Permission to reproduce in print is restricted to an abstract of not more than 300 words; illustrations may not be copied. The abstract must contain conspicuous acknowledgment of OTC copyright.

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Section: Fine Manipulationmentioning

confidence: 99%

“…In [6], a close range localization system combining cameras and magnetometers is described, that utilizes machine learning techniques to enhance robustness for docking and homing of underwater vehicles (see Figure 10).…”

Section: Figure 8: Multi Target Function Regression Approach With Robmentioning

confidence: 99%

How AI and Robotics can Support Marine Mining

Kampmann

Christensen

Fritsche

et al. 2018

Day 3 Wed, May 02, 2018

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show abstract

“…Remotely operated underwater vehicle has been used for deep underwater task for few decades. Underwater robot plays a very important role in probing, salvaging, checking and repairing on-service pipeline [1]. Oil and gas industries have been created work-class ROV to perform task at offshore fields while the navy crews have been using it for rescue and recovery operation on the ocean floor.…”

Section: Introductionmentioning

confidence: 99%

Leap Motion Underwater Robotic Arm Control

2015

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The robotic arm structure and control algorithm are designed for a purpose, to pick and place an object task at underwater which is attached to a ROV (Remotely Operated Underwater Vehicle). It is controlled by an innovated gesture control system, Leap Motion controller. The arm structure of pick and place is controlled by Arduino as microcontroller to control the angles and displacements of the servomotor precisely. The detection of position and orientation of the fingers and hands processed by develop control algorithm in Javascript language and sent to the Arduino. Meanwhile, a detailed 3D drawing is drawn precisely by using SolidWorks for the fabrication. After the platform is completed, kinematic and inverse kinematic equations and calculations are programed into JavaScript language for the control algorithm. Lastly, the hardware and software combined all together. With developed control algorithm, the robotic arm mimics human’s fingers and arm movements which more user friendly interface especially underwater scavenging and salvaging. Since it designed for underwater, the accuracy and precision are crucial for robotic arms, it undergo several experiments and tests for investigate reliability performance of developed robotic arm.

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“…People pay more attention to the ocean exploitation and ocean development in resent years. The underwater robot is used to not only observe subsea, but also complete more complex work, such as salvaging, exploitation of subsea mineral, laying and maintenance the underwater oil pipeline [1][2][3]. Underwater manipulator is the key factor for the underwater robot to accomplish the operation task.…”

Section: Introductionmentioning

confidence: 99%

Working Space Analysis of 6-DOF Manipulator Based on MONTE-CARIO Method

Wang

Chen

2012

AMR

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The working space of manipulator is an important dynamic index. Based on Monte-Carlo method, working space of the 6-DOF (degrees of freedom) underwater manipulator is analyzed in this paper. The virtual prototype of the manipulator is established. Simulation graph is obtained with the aid of arithmetic procedure and computer graphical. Simulation result shows that the manipulator’s working space is bigger and has obtained better effect, which can meet the 6-DOF underwater manipulator operational requirements. The results provide an important reference for the 6-DOF underwater manipulator body design and trajectory planning.

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Development of Underwater Robot Hand and Its Finger Tracking Control

Cited by 7 publications

References 5 publications

How AI and Robotics can Support Marine Mining

How AI and Robotics can Support Marine Mining

Leap Motion Underwater Robotic Arm Control

Working Space Analysis of 6-DOF Manipulator Based on MONTE-CARIO Method

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