Advanced manipulation for deep underwater sampling: the AMADEUS research project

Author

Lane, D.M. ; Bartolini, G. ; Cannata, G. ; Casalino, G. ; Davies, J.B.C. ; Veruggio, G. ; Canals, M. ; Smith, C.

Author_Institution

Dept. of Comput. & Electr. Sci., Heriot-Watt Univ., Edinburgh, UK

Volume

2

fYear

1998

Firstpage

1068

Abstract

This paper describes the design, development and future activities for the ongoing EU MAST II and III programmes AMADEUS I and II. The AMADEUS is a project focusing on improving the dexterity and sensory abilities of underwater systems for grasping and manipulation of delicate and other objects. Phase I of the project was completed in May 1996, and has developed a prototype dextrous three fingered underwater dextrous gripper. Phase II is now underway to deploy the hand from an underwater robot arm and carry out wet trials with end users. This paper summarizes the major achievements obtained within the programme

Keywords

dexterous manipulators; marine systems; project engineering; AMADEUS project; dextrous gripper; grasping; manipulators; supervisory control; underwater sampling; Computer architecture; Fingers; Force sensors; Grasping; Grippers; Prototypes; Sampling methods; Sliding mode control; Supervisory control; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on

Conference_Location

Trieste

Print_ISBN

0-7803-4104-X

Type

conf

DOI

10.1109/CCA.1998.721621

Filename

721621