Fundamental Research in Advancing Subsea Manipulation with an ROV-Mounted Robotic Arm
Abstract
In this work we propose new technologies in perception, control/optimization, operator interfaces, and soft materials to enable dextrous, robust, and flexible robotic manipulation in underwater environments. We envision a semi-autonomous remotely operated vehicle (ROV) capable of performing complex manipulation tasks (e.g. hull cleaning, pier maintenance, and environmental sampling) in highly energetic conditions. An operator provides high-level commands to the vehicle through an interface that provides advanced decision support, and the commands are interpreted and executed using advanced robotic perception and trajectory optimization/control algorithms. The vehicle uses a soft gripper attached to a high-degree-of-freedom arm with onboard touch sensing to feel its way around the environment and provide a robust grasp. Such a system has the potential to improve the efficiency of subsea manipulation tasks, reduce ROV operators training requirements, and enable the completion of tasks in environments where dexterous manipulation is not currently possible.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jan 06, 2021
- Source ID
- N000142112052
Entities
People
- Geoffrey A. Hollinger
Organizations
- Office of Naval Research
- Oregon State University
- United States Navy