Development and Control of a Humanoid Underwater Robot

Wu, Weitao; Yang, Canjun; Xu, Zhen; Wu, Xingkun; Zhu, Yuanchao; Wei, Qianxiao

doi:10.1109/icmre49073.2020.9064996

Cited by 5 publications

(2 citation statements)

References 5 publications

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“…DRORUS (Wu et al, 2020) is a newly developed robotic avatar prototype. The robot is designed for remote underwater missions.…”

Section: Drorus Robotmentioning

confidence: 99%

An integrated vision-based system for efficient robot arm teleoperation

Yang

Zhu

et al. 2020

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Purpose This paper aims to present a natural human–robot teleoperation system, which capitalizes on the latest advancements of monocular human pose estimation to simplify scenario requirements on heterogeneous robot arm teleoperation. Design/methodology/approach Several optimizations in the joint extraction process are carried on to better balance the performance of the pose estimation network. To bridge the gap between human joint pose in Cartesian space and heterogeneous robot joint angle pose in Radian space, a routinized mapping procedure is proposed. Findings The effectiveness of the developed methods on joint extraction is verified via qualitative and quantitative experiments. The teleoperation experiments on different robots validate the feasibility of the system controlling. Originality/value The proposed system provides an intuitive and efficient human–robot teleoperation method with low-cost devices. It also enhances the controllability and flexibility of robot arms by releasing human operator from motion constraints, paving a new way for effective robot teleoperation.

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“…DRORUS (Wu et al, 2020) is a newly developed robotic avatar prototype. The robot is designed for remote underwater missions.…”

Section: Drorus Robotmentioning

confidence: 99%

An integrated vision-based system for efficient robot arm teleoperation

Yang

Zhu

et al. 2020

Self Cite

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“…In previous research, some research teams have developed a tendon-driven gripper and an SMA-driven flexible gripper applied to a small underwater robot (Wu et al , 2020; Xu et al , 2020). It possesses good adaptability and is able to interact effectively with the environment.…”

Section: Introductionmentioning

confidence: 99%

A flexible gripper with a wide-range variable stiffness structure based on shape memory alloy

Yang

et al. 2022

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Purpose Variable stiffness structure can significantly improve the interactive capabilities of grippers. Shape memory alloys have become a popular option for materials with variable stiffness structures. However, its variable stiffness range is limited by its stiffness in two phases. The purpose of this paper is to enhance the manipulation capabilities of tendon-driven flexible grippers by designing a wide-range variable stiffness structure. Design/methodology/approach Constitutive models of shape memory alloy and mechanical models are used to analyze the performance of the variable stiffness structure. A separated solution was used to combine the tendon-driven gripper and the variable stiffness structure. The feed-forward control algorithm is used to enhance the control stability of the variable stiffness structure. Findings The stiffness variable capability of the proposed variable stiffness structure is verified by experiments. The stability of the feedback control algorithm was verified by sinusoidal tracking experiments. The variable stiffness range of 8.41 times of the flexible gripper was tested experimentally. The interaction capability of the variable stiffness flexible gripper is verified by the object grasping experiments. Originality/value A new wide-range variable stiffness structure is proposed and validated. The new variable stiffness structure has a larger range of stiffness variation and better control stability. The new flexible structure can be applied to conventional grippers to help them gain stiffness variable capability and improve their interaction ability.

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Recent Progress of an Underwater Robotic Avatar

Yang

Zhu

et al. 2022

Intelligent Robotics and Applications

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Development and Control of a Humanoid Underwater Robot

Cited by 5 publications

References 5 publications

An integrated vision-based system for efficient robot arm teleoperation

An integrated vision-based system for efficient robot arm teleoperation

A flexible gripper with a wide-range variable stiffness structure based on shape memory alloy

Recent Progress of an Underwater Robotic Avatar

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