Dexterous Underwater Manipulation from Onshore Locations: Streamlining Efficiencies for Remotely Operated Underwater Vehicles

Birk, Andreas; Doernbach, Tobias; Mueller, Christian A.; Łuczyński, Tomasz; Chavez, Arturo Gomez; Koehntopp, Daniel; Kupcsik, Andras; Calinon, Sylvain; Tanwani, Ajay Kumar; Antonelli, Gianluca; Lillo, Paolo Di; Simetti, Enrico; Casalino, Giuseppe; Indiveri, Giovanni; Ostuni, Luigi; Turetta, Alessio; Caffaz, A.; Weiß, Peter; Gobert, Thibaud; Chemisky, Bertrand; Gancet, Jérémi; Siedel, Torsten; Govindaraj, Shashank; Martinez, X. Pardo; Letier, Pierre

doi:10.1109/mra.2018.2869523

Cited by 58 publications

(25 citation statements)

References 14 publications

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“…It accomplished autonomous docking, fixed-based manipulation, and connector plugging/unplugging on a submerged mockup panel, both in a water tank and in a harbor scenario (Ridao, Carreras, Ribas, Sanz, & Oliver, 2014). An initiative currently under development is DexROV (Birk et al, 2018). The utilized robot consists of two 6-DoF arms…”

Section: Underwater Robots With Manipulation Capabilitiesmentioning

confidence: 99%

Controlling Ocean One: Human–robot collaboration for deep‐sea manipulation

Brantner

Khatib

2020

Journal of Field Robotics

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Deploying robots to explore venues that are inaccessible to humans, or simply inhospitable, has been a longstanding ambition of scientists, engineers, and explorers across numerous fields. The deep sea exemplifies an environment that is largely uncharted and denies human presence. Central to exploration is the capacity to deliver dexterous robotic manipulation to this unstructured environment. Unmanned underwater vehicles (UUVs) are successful in providing passive solutions for observation and mapping but currently are far from capable of delivering human‐level dexterity. The ones providing manipulation typically are UUVs coupled with position‐controlled hydraulic arms using disjoint controllers for navigation and manipulation that require expert operators. Ocean One is a humanoid underwater robot designed specifically for underwater manipulation. In this paper, we present Ocean One's control architecture that, through a collaboration between this humanoid robot and a human pilot, enables the deployment of dexterous robotic manipulation to the deep sea. We provide detailed descriptions of this architecture's two main components: first, a whole‐body controller that creates functional autonomy by coordinating manipulation, posture, and constraint tasks, and second, a set of haptic and visual human interfaces that enable intimate interaction while avoiding micromanagement. We test the presented methods in simulation and validate them in pool experiments and in two field deployments. On its maiden mission into the Mediterranean Sea, Ocean One explored the Lune, a French naval vessel that sank in 1664 off the coast of Toulon, France. In its second expedition, Ocean One assisted human divers in investigating underwater volcanic structures at Santorini, Greece.

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Section: Underwater Robots With Manipulation Capabilitiesmentioning

confidence: 99%

Controlling Ocean One: Human–robot collaboration for deep‐sea manipulation

Brantner

Khatib

2020

Journal of Field Robotics

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“…(a) ALIVE [5] (b) SAUVIM [15] (c) GIRONA 500 [16] (d) DexROV [13] (e) Ocean One [14] Figure 1 Different kinds of UVMS Underwater grasping is an important function for underwater operation. A UVMS requires coordinated motion and more robust and optimal control scheme to overcome some adverse factors.…”

Section: •3•mentioning

confidence: 99%

“…Meanwhile, dual arm UVMS was proposed and developed for cooperating manipulation in recent years [12]. Some UVMS with dual arms have been studied, such as DexROV (see Figure 1(d)) [13], Ocean One (see Figure 1(e)) [14], etc. Dual arms can balance the operation in both sides and improve the stability of UVMS.…”

Section: Introductionmentioning

confidence: 99%

Dynamics Simulation of Grasping Process of Underwater Vehicle-Manipulator System

Chang

Zhang

Zheng

et al. 2020

Preprint

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Underwater vehicle-manipulator system (UVMS) can be applied to fulfill different complex underwater tasks such as grasping, drilling, sampling, etc. It is widely used in the field of oceanographic research, marine exploration, military and commercial applications. In this paper, the dynamic simulation of UVMS is presented in the process of grasping an object. Firstly, the dynamic model of UVMS, which considers the change of the load of manipulator when the end effector of manipulator grasps the object, is developed. To compare different control conditions, the numerical simulation of grasping processes without/with vehicle attitude control are carried out. The results show that the coupling dynamics between the vehicle and the manipulator in the grasping process are clearly illustrated. The tracking position error of end effector without vehicle control is large and UVMS cannot complete the grasping task under this condition. Vehicle control can compensate the motion of vehicle due to the coupling effect caused by the motion of manipulator. This study will contribute to underwater operation mission for UVMS with floating base.

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“…In particular, the use of autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs) has rapidly increased in the last decade. Major applications of marine robots include military (Ferri et al, 2017, 2018), environmental, and scientific missions (Leonard et al, 2010), as well as challenging tasks that arise in the oil industry and ocean mining (Birk et al, 2018; Camilli et al, 2010). In what concerns the latter application area, multistage seismic surveys employing AUVs for seafloor massive sulfide exploration were recently performed in Japan (Asakawa et al, 2018) and they share some similarities with this study.…”

Section: Introductionmentioning

confidence: 99%

WiMUST: A cooperative marine robotic system for autonomous geotechnical surveys

Simetti

Indiveri²,

Pascoal

2020

Journal of Field Robotics

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This paper presents the main results of the European H2020 WiMUST project, whose aim was the development of a system of cooperative autonomous underwater vehicles and autonomous surface vehicles for geotechnical surveying. In particular, insights on the overall robotic technologies and methodologies employed, ranging from the communications and navigation framework to the cooperative and coordinated control solutions are given. The software architecture and the lessons learnt from the preliminary field test are also discussed. Finally, field results of the final survey campaign carried out in the Atlantic Ocean are presented, demonstrating how a team of seven robots could autonomously conduct a geotechnical survey, producing seismic images without artifacts.

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Dexterous Underwater Manipulation from Onshore Locations: Streamlining Efficiencies for Remotely Operated Underwater Vehicles

Cited by 58 publications

References 14 publications

Controlling Ocean One: Human–robot collaboration for deep‐sea manipulation

Controlling Ocean One: Human–robot collaboration for deep‐sea manipulation

Dynamics Simulation of Grasping Process of Underwater Vehicle-Manipulator System

WiMUST: A cooperative marine robotic system for autonomous geotechnical surveys

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