Underwater Mobile Manipulation: A Soft Arm on a Benthic Legged Robot
Jiaqi Liu, Saverio Iacoponi, Cecilia Laschi, Li Wen, Marcello Calisti
Abstract
Robotic systems that can explore the sea floor, collect marine samples, gather shallow water refuse, and perform other underwater tasks are interesting and important in several fields, from biology and ecology to off-shore industry. In this article, we present a robotic platform that is, to our knowledge, the first to combine benthic legged locomotion and soft continuum manipulation to perform real-world underwater mission-like experiments. We experimentally exploit inverse kinematics for spatial manipulation in a laboratory environment and then examine the robot's workspace extensibility, force, energy consumption, and grasping ability in different undersea scenarios.
Topics & Concepts
UnderwaterExploitWorkspaceMarine engineeringInverse kinematicsKinematicsRobotComputer scienceBenthic zoneShoreSoft roboticsMobile robotRobotic armRemotely operated underwater vehicleEngineeringHuman–computer interactionSimulationArtificial intelligenceOceanographyGeologyClassical mechanicsComputer securityPhysicsSoft Robotics and ApplicationsRobotic Locomotion and ControlRobot Manipulation and Learning