2017
DOI: 10.1109/tie.2016.2557309
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Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle

Abstract: Abstract-This paper develops a virtual platform of an underwater manipulator mounted on a submersible vehicle via the three-dimensional simulator "Webots" for teleoperation through a replica master arm. The graphical, kinematic, and dynamic models of the manipulator refer to a master-slave servo hydraulic manipulator with seven functions, consisting of six degrees of freedom and a parallel gripper, while the "Jiaolong" deep-manned submersible vehicle, operating below the sea surface down to 7000 m, is chosen a… Show more

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Cited by 31 publications
(13 citation statements)
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“…Traditionally, telepresence systems have been composed of arm manipulators and visual feedback, which have shown interesting progresses [11], [12]. However, integration of multimodal feedback, e.g., tactile and audio, can provide enhanced and sophisticated systems that benefit from multimodal data in the environment [13], [14]. The first manmachine interface, equipped with multiple sensor feedback (CCD cameras, integrated microphones and pressure sensors) was developed for control of a dual-arm robot [15].…”
Section: Related Workmentioning
confidence: 99%
“…Traditionally, telepresence systems have been composed of arm manipulators and visual feedback, which have shown interesting progresses [11], [12]. However, integration of multimodal feedback, e.g., tactile and audio, can provide enhanced and sophisticated systems that benefit from multimodal data in the environment [13], [14]. The first manmachine interface, equipped with multiple sensor feedback (CCD cameras, integrated microphones and pressure sensors) was developed for control of a dual-arm robot [15].…”
Section: Related Workmentioning
confidence: 99%
“…In this paper, a master-slave servo underwater manipulator with six degrees of freedom (DOFs) and a parallel gripper is used for this study. Its kinematic, dynamic and virtual models are developed in [16][17]. Remotely operating the underwater manipulator in the deep sea environment is complex, which causes the operator usually to bear a larger operating pressure.…”
Section: Problem Statementmentioning
confidence: 99%
“…In order to demonstrate the feasibility and effectiveness of the proposed P300-based BRI system, we develop a virtual platform in Webots environment [17], as shown in Fig. 2, because controlling the real underwater manipulator is risky and time-consuming.…”
Section: Development Of the Experimental Platformmentioning
confidence: 99%
“…Over the last 30 years, the research has focused on the replacement of humans by robots in unknown or dangerous environments. Robots have been widely used in several areas, such as industrial applications, for deep-sea exploration, and for medical service (Bolopion et al, 2013;Chan et al, 2014;Perera et al , 2014;Zhang J. et al , 2017). Since then, the telerobot developed into a research hot-spot in the field of robotics.…”
Section: Introductionmentioning
confidence: 99%