A soft manipulator for efficient delicate grasping in shallow water: Modeling, control, and real-world experiments

doi:10.1177/0278364920917203

	A soft manipulator for efficient delicate grasping in shallow water: Modeling, control, and real-world experiments
	Gong, Zheyuan 1; Fang, Xi 1; Chen, Xingyu2 ; Cheng, Jiahui 1; Xie, Zhexin 1; Liu, Jiaqi1 ; Chen, Bohan 1; Yang, Hui 1; Kong, Shihan 2; Hao, Yufei 1; Wang, Tianmiao 1; Yu, Junzhi2 ; Wen, Li 1,3
发表期刊	INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
ISSN	0278-3649
	2020-07-07
页码	21
通讯作者	Wen, Li(liwen@buaa.edu.cn)
摘要	Collecting in shallow water (water depth: similar to 30 m) is an emerging field that requires robotics for replacing human divers. Soft robots have several promising features (e.g., safe interaction with the environments, lightweight, etc.) for performing such tasks. In this article, we developed an underwater robotic system with a three-degree-of-freedom (3-DoF) soft manipulator for spatial delicate grasping in shallow water. First, we present the design and fabrication of the soft manipulator with an opposite-bending-and-stretching structure (OBSS). Then, we proposed a simple and efficient kinematics method for controlling the spatial location and trajectory of the soft manipulator's end effector. The inverse kinematics of the OBSS manipulator can be solved efficiently (computation time: 8.2 ms). According to this inverse kinematics method, we demonstrated that the OBSS soft manipulator could track complex two-dimensional and three-dimensional trajectories, including star, helix, etc. Further, we performed real-time closed-loop pick-and-place experiments of the manipulator with binocular and on-hand cameras in a lab aquarium. Hydrodynamic experiments showed that the OBSS soft manipulator produced little force (less than 0.459 N) and torque (less than 0.228 N center dot m), which suggested its low-inertia feature during the underwater operation. Finally, we demonstrated that the underwater robotic system with the OBSS soft manipulator successfully collected seafood animals at the bottom of the natural oceanic environment. The robot successfully collected eight sea echini and one sea cucumber within 20 minutes at a water depth of around 10 m.
关键词	Soft robotics underwater grasping inverse kinematics hydrodynamics
DOI	10.1177/0278364920917203
关键词[WOS]	ROBOT ; DESIGN ; ARM ; KINEMATICS ; GRIPPERS
收录类别	SCI
语种	英语
资助项目	National Science Foundation key projects, China[61633004] ; National Science Foundation key projects, China[61822303] ; National Science Foundation key projects, China[91848206] ; National Science Foundation key projects, China[91848105] ; National Key R&D Program of China[18YFB1304600] ; National Key R&D Program of China[2019YFB1309600]
项目资助者	National Science Foundation key projects, China ; National Key R&D Program of China
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000546340800001
出版者	SAGE PUBLICATIONS LTD
引用统计	被引频次：107[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/40066
专题	复杂系统管理与控制国家重点实验室
通讯作者	Wen, Li
作者单位	1.Beihang Univ, Sch Mech Engn & Automat, 37 Xueyuan Rd, Beijing 100191, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 3.Beihang Univ, Beijing Adv Innovat Ctr Biomed Engn, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Gong, Zheyuan,Fang, Xi,Chen, Xingyu,et al. A soft manipulator for efficient delicate grasping in shallow water: Modeling, control, and real-world experiments[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH,2020:21.
APA	Gong, Zheyuan.,Fang, Xi.,Chen, Xingyu.,Cheng, Jiahui.,Xie, Zhexin.,...&Wen, Li.(2020).A soft manipulator for efficient delicate grasping in shallow water: Modeling, control, and real-world experiments.INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH,21.
MLA	Gong, Zheyuan,et al."A soft manipulator for efficient delicate grasping in shallow water: Modeling, control, and real-world experiments".INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2020):21.