Development in underwater robotics

Yuh, J.

doi:10.1109/robot.1995.526021

Cited by 17 publications

(8 citation statements)

References 27 publications

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“…In order to describe the motion of an underwater robotic vehicle (URV), we assume the notation of The Society of Naval Architects and Marine Engineers (SNAME). [32][33][34][35][36][37][38] Specifically, as represented in Fig. 1, we assume a body-fixed coordinate system with the origin located at the vehicle's center of buoyancy, which is assumed to be constant with respect to the vehicle since we are not considering possible changes in shapes or volumes.…”

Section: Coordinate Systemmentioning

confidence: 99%

Dynamics Modeling of Human–Machine Control Interface for Underwater Teleoperation

Muscolo¹,

Marcheschi²,

Fontana

et al. 2020

Robotica

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SUMMARY This paper presents an experimental study on new paradigms of haptic-based teleoperated navigation of underwater vehicles. Specifically, the work is focused on investigating the possibility of enhancing the user interaction by introducing haptic cues at the level of the user wrist providing a force feedback that reflects dynamic forces on the remotely operated underwater vehicle. Different typologies of haptic controllers are conceived and integrated with a real-time simulated model of an underwater robotic vehicle. An experimental test is designed to evaluate the usability of the system and to provide information on the global performance during the execution of simple tasks. Experiments are conducted with 7 candidates testing 12 different controllers. Among these, the most effective strategies have been identified and selected on the basis of minimization of errors on the vehicle trajectory and of the quality of the user’s interaction in terms of perceived comfort during operation. Overall, the results obtained with this study underline that haptic navigation control can have a positive influence on the performance of remotely controlled underwater vehicles.

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Section: Coordinate Systemmentioning

confidence: 99%

Dynamics Modeling of Human–Machine Control Interface for Underwater Teleoperation

Muscolo¹,

Marcheschi²,

Fontana

et al. 2020

Robotica

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“…Some very interesting talks Corporations ( h t t p : //bluef i n r o b o t i c s . COD) develabout state of the art and direction of the underwaoped, in collaboration with MIT, different AUVs, ter robotics have been given, e.g., in (Yuh, 1995; such as Bluefin 21, for deep operations up to 4500111;and West, 2001;Ura, 2003;Yuh, 2003). At the best C&C technologies (www.…”

Section: Introductionmentioning

confidence: 99%

Open control problems in underwater robotics

Antonelli

2004

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)

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“…It has also been suggested that highly dextrous underwater manipulator systems are critical to the development of self-contained autonomous underwater vehicles (Yuh 1995).…”

Section: Introductionmentioning

confidence: 99%

Mechanical design, operation and direction prediction of the AMADEUS gripper system

Robinson

Davies

Seaton³

1998

International Journal of Systems Science

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The mechanical design, construction. operation and initial performance of a prototype innovative dextrous underwater end effector are described. The three-fingered hydraulic device utilizes continuously flexible fingers to perform grasping and manipulation. Finger movements are produced by the elastic deformation of bel/OIl's elements due to internal pressure. A single degree offreedom knuckle joint at the base ofeach finger enables the device to be used across a wide range of object sizes. A comparison between theoretical and actual non-contact movements for this type of flexible finger is also included.

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Development in underwater robotics

Abstract: This paper is written as a survey paper summarizing the current state-of-the-art and discussing future research directions in the area of Underwater Robotics.

Cited by 17 publications

References 27 publications

Dynamics Modeling of Human–Machine Control Interface for Underwater Teleoperation

Dynamics Modeling of Human–Machine Control Interface for Underwater Teleoperation

Open control problems in underwater robotics

Mechanical design, operation and direction prediction of the AMADEUS gripper system

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