Journal ArticleDOI
Design and performance evaluation of a biomimetic microrobot for the father---son underwater intervention robotic system
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TLDR
In this article, a biomimetic microrobot inspired by an octopus was used to realize underwater manipulation for small size spherical underwater robot SUR-II, and a novel buoyancy force adjustment method was proposed which can provide 11.8 mN additional buoyancy forces to overcome the weight of the object in water.Abstract:
Underwater intervention is a favorite and difficult task for AUVs. To realize the underwater manipulation for the small size spherical underwater robot SUR-II, a father---son underwater intervention robotic system (FUIRS) is proposed in our group. The FUIRS employs a novel biomimetic microrobot to realize an underwater manipulation task. This paper describes the biomimetic microrobot which is inspired by an octopus. The son robot can realize basic underwater motion, i.e. grasping motion, object detection and swimming motion. To enhance the payload, a novel buoyancy force adjustment method was proposed which can provides 11.8 mN additional buoyancy force to overcome the weight of the object in water. Finally, three underwater manipulation experiments are carried out to verify the performance of the son robot. One is carried by swimming motion and buoyancy adjustment; the other two are only carried by buoyancy adjustment. And the experimental results show that the son robot can realize the underwater manipulation of different shape and size objects successfully. The swimming motion can reduce the time cost of underwater manipulation remarkably.read more
Citations
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Journal ArticleDOI
A highly stable and efficient spherical underwater robot with hybrid propulsion devices
TL;DR: A novel spherical underwater robot (SUR IV) with hybrid propulsion devices including vectored water-jet and propeller thrusters is proposed in this paper, and the diversity of the movement modes is proposed for the different targets as remote or hover and general or silent.
Journal ArticleDOI
Performance Evaluation of a Novel Propulsion System for the Spherical Underwater Robot (SURIII)
Shuoxin Gu,Shuxiang Guo +1 more
TL;DR: In this article, a novel propulsion system for the third-generation Spherical Underwater Robot (SURIII), the improved propulsion system is designed and analyzed to verify its increased stability compared to the second-generation SURII.
Journal ArticleDOI
Design and characteristic evaluation of a novel amphibious spherical robot
Jian Guo,Shuxiang Guo,Liguo Li +2 more
TL;DR: In this article, a new type of amphibious spherical robots is presented, which consists of four drive units, each drive unit consists of two servo motors, a water-jet propeller, a DC motor and a wheel.
Journal ArticleDOI
Development of a biomimetic underwater microrobot for a father---son robot system
TL;DR: In this paper, an ionic conducting polymer film (ICPF) actuator-based crayfish-inspired microrobot is designed and developed as a son robot for object recovery, which is connected to the amphibious father robot by copper wires.
Proceedings ArticleDOI
A hybrid propulsion device for the spherical underwater robot (SUR III)
TL;DR: In this article, a hybrid propulsion system for the third-generation spherical underwater robot (SUR III) with both vectored water-jet thrusters and propeller thrusters is presented.
References
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Journal ArticleDOI
Underwater autonomous manipulation for intervention missions AUVs
TL;DR: One of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment is described, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface.
Journal ArticleDOI
A nonlinear model for ionic polymer metal composites as actuators
TL;DR: In this article, a nonlinear dynamic model of motion actuators based on ionic polymer metal composites (IPMCs) working in air is presented, where significant quantities ruling the acting properties of IPMC-based actuators are taken into account.
Proceedings ArticleDOI
Autonomous navigation for BigDog
David Wooden,Matthew D. Malchano,Kevin Blankespoor,Andrew Howardy,Alfred A. Rizzi,Marc H. Raibert +5 more
TL;DR: This paper equips BigDog with a laser scanner, stereo vision system, and perception and navigation algorithms, and uses these sensors and algorithms to perform autonomous navigation to goal positions in unstructured forest environments.
Proceedings ArticleDOI
SpinybotII: climbing hard walls with compliant microspines
TL;DR: In this article, a climbing robot is developed that can scale flat, hard vertical surfaces including concrete, brick, stucco and masonry without using suction or adhesives.
Journal ArticleDOI
Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization
Nilanjan Sarkar,Tarun Podder +1 more
TL;DR: In this paper, a motion coordination algorithm for an autonomous underwater vehicle-manipulator system (UVMS) is proposed, which generates the desired trajectories for both the vehicle and the manipulator in such a way that the total hydrodynamic drag on the system is minimized.