Knowledge Commons of Institute of Automation,CAS
RobCutt: A Framework of Underwater Biomimetic Vehicle-Manipulator System for Autonomous Interventions | |
Tang, Chong1,2![]() ![]() ![]() ![]() ![]() | |
2018-08 | |
会议名称 | IEEE International Conference on Automation Science and Engineering |
会议日期 | August, 2018 |
会议地点 | Munich, Germany |
摘要 | This paper presents a general concept framework of the underwater biomimetic vehicle-manipulator system (UBVMS) for autonomous interventions in terms of objectives, as well as technologies and methodologies. With full consideration of the autonomous cruise and intervention, the RobCutt system’s configuration and methodology are designed to promote the levels of autonomy of the autonomous underwater vehicle-manipulator system (UVMS). The second generation UBVMS (RobCutt II) is introduced, including the design and principle of the biomimetic propulsor inspired by the cuttlefish and lightweight manipulator, and the advantages are concluded. Moreover, technologies and methodologies of underwater localization, object detection and coordination control are designed and accomplished respectively. Finally, pool tests have been carried out to verify the feasibility and effectiveness of the developed framework and methodology. |
收录类别 | EI |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/23550 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Wang, Yu |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences 3.Fraunhofer Institute for Computer Graphics Research 4.University of Rostock |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Tang, Chong,Wang, Rui,Wang, Yu,et al. RobCutt: A Framework of Underwater Biomimetic Vehicle-Manipulator System for Autonomous Interventions[C],2018. |
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