Development of a deep-sea robotic manipulator for autonomous sampling and retrieval

Author

Lewandowski, Craig ; Akin, David ; Dillow, Barrett ; Limparis, Nicholas ; Carignan, Craig ; Singh, Hanumant ; Sohn, Robert

Author_Institution

Space Syst. Lab., Univ. of Maryland, College Park, MD, USA

fYear

2008

fDate

13-14 Oct. 2008

Firstpage

1

Lastpage

6

Abstract

The design and development of a dexterous robotic manipulator for undersea autonomous sampling and retrieval missions is described. Global system capabilities, end-effectors, trajectory planning, and target recognition strategies are discussed in the context of a recent polar exploration initiative. Additionally, plans for integration onto an autonomous underwater vehicle (AUV) and autonomous sampling and retrieval objectives are outlined.

Keywords

dexterous manipulators; end effectors; mobile robots; object recognition; path planning; remotely operated vehicles; robot vision; underwater vehicles; autonomous underwater vehicle; deep-sea robotic manipulator; dexterous robotic manipulator; end-effectors; polar exploration initiative; target recognition; trajectory planning; undersea autonomous retrieval; undersea autonomous sampling; Ice; Manipulators; Remotely operated vehicles; Robots; Sampling methods; Space technology; Spline; Teeth; Torque; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicles, 2008. AUV 2008. IEEE/OES

Conference_Location

Woods Hole, MA

ISSN

1522-3167

Print_ISBN

978-1-4244-2939-4

Electronic_ISBN

1522-3167

Type

conf

DOI

10.1109/AUV.2008.5290533

Filename

5290533