CASIA OpenIR  > 复杂系统管理与控制国家重点实验室
A soft manipulator for efficient delicate grasping in shallow water: Modeling, control, and real-world experiments
Gong, Zheyuan1; Fang, Xi1; Chen, Xingyu2; Cheng, Jiahui1; Xie, Zhexin1; Liu, Jiaqi1; Chen, Bohan1; Yang, Hui1; Kong, Shihan2; Hao, Yufei1; Wang, Tianmiao1; Yu, Junzhi2; Wen, Li1,3
Source PublicationINTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
ISSN0278-3649
2020-07-07
Pages21
Corresponding AuthorWen, Li(liwen@buaa.edu.cn)
AbstractCollecting 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.
KeywordSoft robotics underwater grasping inverse kinematics hydrodynamics
DOI10.1177/0278364920917203
WOS KeywordROBOT ; DESIGN ; ARM ; KINEMATICS ; GRIPPERS
Indexed BySCI
Language英语
Funding ProjectNational 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]
Funding OrganizationNational Science Foundation key projects, China ; National Key R&D Program of China
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000546340800001
PublisherSAGE PUBLICATIONS LTD
Citation statistics
Cited Times:113[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/40066
Collection复杂系统管理与控制国家重点实验室
Corresponding AuthorWen, Li
Affiliation1.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
Recommended Citation
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.
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