Null-space-based behavior guidance of planar dual-arm UVMS

Moe, Signe; Antonelli, Gianluca; Pettersen, Kristin Y.

doi:10.1109/robio.2014.7090419

Cited by 7 publications

(3 citation statements)

References 21 publications

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“…Youakim et al ( 2017 ) used different motion planning methods to simulate and analyze the motion of an underwater manipulator, solving the problem of “which planner to choose”. Depending on the specific situation, different strategies are needed for the dual-arm problem (Moe et al, 2014 ; Bae et al, 2018 ) and the cooperative operation problem (Xuefeng and Xinqian, 2000 ; Chang, 2004 ; Conti et al, 2015 ; Simetti and Casalino, 2016 ). Some researchers have developed analysis software packages, such as UWSim (Prats et al, 2012 ) and MoveIt!…”

Section: Introductionmentioning

confidence: 99%

UVMS task-priority planning framework for underwater task goal classification optimization

Gao

Zhang²,

Yan³

et al. 2022

Front. Neurorobot.

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This paper presents a task prioritization strategy based on a generic underwater task goal classification transformation for multitasking underwater operational tasks: attitude control, floating manipulation, collision-free motion, especially optimizing trajectory of the end-effector of an underwater vehicle manipulator system (UVMS) in a complex marine environment. The design framework aims to divide the complex underwater operational tasks into UVMS executable generic task combinations and optimize the resource consumption during the whole task. In order to achieve the corresponding underwater task settings, the system needs to satisfy different task scheduling structures. We consider the actual application scenarios of the operational goals and prioritize and define each category of task hierarchy accordingly. Multiple tasks simultaneously enable fast adaptation to UVMS movements and planning to complete UVMS autonomous movements. Finally, an underwater vehicle manipulator system implements the task prioritization planning framework for a practical scenario with different constraints on different goals. We quickly and precisely realize the interconversion of different tasks under goal constraints. The autonomous motion planning and real-time performance of UVMS are improved to cope with the increasing operational task requirements and the complex and changing practical engineering application environments.

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Section: Introductionmentioning

confidence: 99%

UVMS task-priority planning framework for underwater task goal classification optimization

Gao

Zhang²,

Yan³

et al. 2022

Front. Neurorobot.

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“…To overcome such a limitation it is envisioned that IMR operations could be conducted by groups of small sized cooperating ROVs or Intervention Autonomous Underwater Vehicles (I-AUVs) with intervention capabilities. Intervention capable AUVs is an active field of research and multiple authors have considered the modelling and control of I-AUVs Allotta et al (2013), Palomeras et al (2016), Moe et al (2014), Casalino et al (2014). Conti et al (2015) presented a state-of-the-art method for using multiple I-AUVs in a coooperative manipulation task based on a potential-field approach.…”

Section: Introductionmentioning

confidence: 99%

Constrained multi-body dynamics for modular underwater robots — Theory and experiments

et al. 2018

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“…This paper extends the results to 3D and presents simulations to show the applicability of the inverse kinematics singularity-robust task priority (SRTP) method [4] for redundancy resolution for the USM. The SRTP method has previously been applied in 2D simulation of a standard ROV/AUV with an externally mounted robotic arm [5], [6]. In [7], some results for the 3D case are presented using a fuzzy logic redundancy resolution approach.…”

Section: Introductionmentioning

confidence: 99%

The underwater swimming manipulator - a bio-inspired AUV

Sverdrup-Thygeson

Kelasidi

Pettersen

et al. 2016

2016 IEEE/OES Autonomous Underwater Vehicles (AUV)

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Abstract-Autonomous underwater vehicles (AUVs) have been used for environmental mapping and surveys of various kinds for some time. More recently, the AUVs have entered the domain of the remotely operated vehicles (ROVs) to tackle some of the lighter subsea operations, such as inspection, maintenance, and repair (IMR) and light intervention tasks. The successful transition to AUVs for inspection of subsea infrastructure has pushed the technology towards AUVs equipped with robotic arms. Some AUVs with attached manipulator arms have demonstrated autonomous light intervention, but the majority of such tasks are still carried out using tethered and expensive ROVs with support vessels. The underwater swimming manipulator (USM) presented in this paper, is a snakelike bio-inspired AUV with exceptional accessibility and flexibility, due to its slender, multi-articulated structure. In this paper, we discuss why the USM is an appropriate system for certain tasks that are normally carried out by conventional ROVs and AUVs. Furthermore, we address the topic of kinematic control of the USM to utilize the inherent redundancy. Finally, we present and make use of a newly developed and versatile simulation environment for USMs to assert the applicability of the USM for performing subsea inspections and light intervention.

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Null-space-based behavior guidance of planar dual-arm UVMS

Cited by 7 publications

References 21 publications

UVMS task-priority planning framework for underwater task goal classification optimization

UVMS task-priority planning framework for underwater task goal classification optimization

Constrained multi-body dynamics for modular underwater robots — Theory and experiments

The underwater swimming manipulator - a bio-inspired AUV

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