Title :
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
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;
Conference_Titel :
Autonomous Underwater Vehicles, 2008. AUV 2008. IEEE/OES
Conference_Location :
Woods Hole, MA
Print_ISBN :
978-1-4244-2939-4
Electronic_ISBN :
1522-3167
DOI :
10.1109/AUV.2008.5290533
