An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping

doi:10.1109/TMECH.2023.3321054

	An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping
	Liu, Jiaqi1 ; Song, Zhuheng 2; Lu, Yue3 ; Yang, Hui 4; Chen, Xingyu5 ; Duo, Youning 1; Chen, Bohan 1; Kong, Shihan5 ; Shao, Zhuyin 1; Gong, Zheyuan 6; Wang, Shiqiang 1; Ding, Xilun 1; Yu, Junzhi3,7 ; Wen, Li 1
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN	1083-4435
	2023-10-24
页码	12
通讯作者	Wen, Li(liwen@buaa.edu.cn)
摘要	Delicate underwater manipulation tasks such as biological specimen collection are promising fields that require new robotic designs and intelligent robotic technologies. In this study, we proposed an automatic aquatic object-collecting system with a soft manipulator controlled by a reinforcement learning-based controller. For underwater sensing, we implemented a visual perception framework to restore the quality of the underwater image, detect the seafood animals, and track the target's position. The online learning ability of the reinforcement learning-based controller endowed strong adaptability for the soft manipulator against underwater disturbances. The water tank grasping tests show a 91.7% successful grasping rate without flow disturbance and 83.3% with flow disturbances. We demonstrated that the soft robotic collecting system gripped seafood animals in a lab aquarium as well as the natural seabed environment. The real-world experimental results showed that the robot successfully collected 28 shells within 40 min at a water depth of 15 m and even completed grasping tasks in a dark environment. Our results demonstrated that this manipulator prototype is potentially applicable for fully autonomous delicate objects underwater.
关键词	Grasping Robots Soft robotics Manipulator dynamics Task analysis Robot kinematics Biology Machine learning soft robotics underwater grasping
DOI	10.1109/TMECH.2023.3321054
关键词[WOS]	DESIGN ; ARM
收录类别	SCI
语种	英语
资助项目	National Science Foundation support projects, China[T2121003] ; National Science Foundation support projects, China[92048302] ; National Science Foundation support projects, China[61822303] ; National Key R&D Program of China[2022YFB4701800]
项目资助者	National Science Foundation support projects, China ; National Key R&D Program of China
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:001092437300001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/54287
专题	多模态人工智能系统全国重点实验室
通讯作者	Wen, Li
作者单位	1.Beihang Univ, Sch Mech Engn & Automat, Beijing 100191, Peoples R China 2.Chinese Acad Sci, Inst Deep Sea Sci & Engn, Sanya 572000, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Guangdong Acad Sci, Inst Semicond, Guangzhou 510610, Guangdong, Peoples R China 5.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, Beijing 100871, Peoples R China 6.Univ Toronto, Toronto, ON M5S 1A1, Canada 7.Peking Univ, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
推荐引用方式 GB/T 7714	Liu, Jiaqi,Song, Zhuheng,Lu, Yue,et al. An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:12.
APA	Liu, Jiaqi.,Song, Zhuheng.,Lu, Yue.,Yang, Hui.,Chen, Xingyu.,...&Wen, Li.(2023).An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12.
MLA	Liu, Jiaqi,et al."An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):12.