A three-fingered cable-driven gripper for underwater applications

Bemfica, J. R.; Melchiorri, Claudio; Moriello, Lorenzo; Palli, Gianluca; Scarcia, Umberto

doi:10.1109/icra.2014.6907203

Cited by 39 publications

(23 citation statements)

References 18 publications

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“…The gripper designed for the MARIS project represents the evolution of previous devices developed for the TRIDENT project and described in [23], [26], [27]. Figure 2 shows a comparison between the current gripper and its predecessor.…”

Section: Maris Grippermentioning

confidence: 99%

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Simetti

Wanderlingh

Torelli

et al. 2018

IEEE J. Oceanic Eng.

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Autonomous Underwater Vehicles are frequently used for survey missions and monitoring tasks, however manipulation and intervention tasks are still largely performed with a human in the loop.Employing autonomous vehicles for these tasks has received a growing interest in the last ten years, and few pioneering projects have been funded on this topic. Among these projects, the Italian MARIS project had the goal of developing technologies and methodologies for the use of autonomous Underwater Vehicle Manipulator Systems in underwater manipulation and transportation tasks. This work presents the developed control framework, the mechatronic integration, and the project's final experimental results on floating underwater intervention.Index Terms underwater vehicle manipulator system; underwater gripper; underwater vision; floating underwater control; task priority control; underwater intervention.

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Section: Maris Grippermentioning

confidence: 99%

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Simetti

Wanderlingh

Torelli

et al. 2018

IEEE J. Oceanic Eng.

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“…A number of hands are deployed in the ocean, from single-DOF rigid claws, such as the Schilling Titan gripper 1 , to adaptive grippers with compliant elements or underactuation (e.g., Cianchetti et al, 2011 ; Lemburg et al, 2011 ; Bemfica et al, 2014 ; Galloway et al, 2016 ; Laschi, 2017 ; Stuart et al, 2017 ; Mura et al, 2018 ; Takeuchi et al, 2018 ; Sinatra et al, 2019 ). While the non-adaptive end-effectors are most consistently utilized, they are not as suitable for nondestructive, gentle biological and archaeological tasks.…”

Section: Hands In the Fieldmentioning

confidence: 99%

Hands in the Real World

2020

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Robots face a rapidly expanding range of potential applications beyond controlled environments, from remote exploration and search-and-rescue to household assistance and agriculture. The focus of physical interaction is typically delegated to end-effectors-fixtures, grippers or hands-as these machines perform manual tasks. Yet, effective deployment of versatile robot hands in the real world is still limited to few examples, despite decades of dedicated research. In this paper we review hands that found application in the field, aiming to discuss open challenges with more articulated designs, discussing novel trends and perspectives. We hope to encourage swift development of capable robotic hands for long-term use in varied real world settings. The first part of the paper centers around progress in artificial hand design, identifying key functions for a variety of environments. The final part focuses on the overall trends in hand mechanics, sensors and control, and how performance and resiliency are qualified for real world deployment.

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“…Mechanical jaws and crawls are the commonest end effectors of underwater manipulators, and there are many commercial products that can be selected according to the task. In the near future, a rapid increase in underwater applications is expected for exploration, industrial activities and scientific purposes, 17 but the current commercial grippers’ motions are too simple, so some complex underwater operations must be conducted by divers. Hence, the TRIDENT project designed a dexterous three-finger grippers (Figure 3(a)) which has 8-DOF, actuated by DC brushless motors.…”

Section: State-of-the-art Of the Design Of Hard Underwater Manipulatorsmentioning

confidence: 99%

For safe and compliant interaction: an outlook of soft underwater manipulators

Wang

Cui

2020

Proceedings of the Institution of Mechanical Engineers, Part M:

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As underwater missions become more and more complex, novel underwater manipulators with better performance are demanding. Soft underwater manipulators are judged to be the development direction and expected to have better performance in safe and compliant interaction with the target in underwater operations such as biological sampling. This paper provides an overview on the state-of-the-art of both hard and soft underwater manipulators to give a prospect for soft underwater manipulators. Key technologies in the design of soft underwater manipulators are identified, including the configuration design, actuator design and stiffening design of them.

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A three-fingered cable-driven gripper for underwater applications

Cited by 39 publications

References 18 publications

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Hands in the Real World

For safe and compliant interaction: an outlook of soft underwater manipulators

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