CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
RobCutt: A Framework of Underwater Biomimetic Vehicle-Manipulator System for Autonomous Interventions
Tang, Chong1,2; Wang, Rui1; Wang, Yu1; Wang, Shuo1,2; Freiherr von Lukas, Uwe3,4; Tan, Min1
2018-08
Conference NameIEEE International Conference on Automation Science and Engineering
Conference DateAugust, 2018
Conference PlaceMunich, Germany
Abstract

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.

Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23550
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWang, Yu
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
CASE.pdf(2281KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Tang, Chong]'s Articles
[Wang, Rui]'s Articles
[Wang, Yu]'s Articles
Baidu academic
Similar articles in Baidu academic
[Tang, Chong]'s Articles
[Wang, Rui]'s Articles
[Wang, Yu]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Tang, Chong]'s Articles
[Wang, Rui]'s Articles
[Wang, Yu]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: CASE.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.