Multi-sensor based autonomous underwater manipulator grasp

Authors:
Zhihu Xiao;Guohua Xu;Fuyuan Peng;Guo yuan Tan;Xiaolong Xu;Xiong Shen;Bo Yang
Affiliations:
Underwater Technology Laboratory, College of Navy and Ship Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China;Underwater Technology Laboratory, College of Navy and Ship Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China;Underwater Technology Laboratory, College of Navy and Ship Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China;Underwater Technology Laboratory, College of Navy and Ship Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China;Underwater Technology Laboratory, College of Navy and Ship Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China;Underwater Technology Laboratory, College of Navy and Ship Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China;Underwater Technology Laboratory, College of Navy and Ship Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China
Venue:
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Year:
2010

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Abstract

As the development of mine, oil and gas resources exploitation in the ocean, the underwater manipulators become necessary tools. But operation of manipulator is tedious. To reduce its dependence on operator, autonomous manipulation is studied. With the support of the Chinese high technology develop program (the 863 program), we design an underwater 3500m electrical driven manipulator. It is equipped with a unique ultra-sonic probe array and an under-water camera. Autonomous grasping a cylinder using ultra-sonic sensor and vision is studied. The sensor system and strategy of autonomous manipulation are discussed in details. Experiments results demonstrated the manipulator autonomous work ability.