AMADEUS: dual-arm workcell for co-ordinated and dexterous manipulation

Author

Angeletti, D. ; Bruzzone, G. ; Caccia, M. ; Cannata, G. ; Casalino, G. ; Reto, S. ; Veruggio, G.

Author_Institution

DIST, Univ. of Genova, Italy

Volume

2

fYear

1998

fDate

28 Sep-1 Oct 1998

Firstpage

947

Abstract

The AMADEUS research project aims at the improvement of the dexterity and sensory abilities of underwater manipulation systems, in support of marine geology and benthic science. Of particular interest in phase II of the project is the study of the co-ordinated control of two underwater 7 degrees of freedom electromechanical arms. This testbed, which can be used for grasping and manipulation of large and heavy objects, is suitably sensorized with underwater force/torque and tactile sensors. The system is operated by a human operator through a tele-assisted control architecture

Keywords

computerised control; dexterous manipulators; force sensors; man-machine systems; marine systems; position control; project engineering; tactile sensors; telerobotics; AMADEUS research project; coordinated control; dexterous manipulator; electromechanical arms; force sensor; object grasping; tactile sensors; teleassisted control; torque sensor; underwater manipulation systems; Arm; Computer architecture; Control systems; Geology; Grippers; Petroleum; Robot kinematics; Sampling methods; Testing; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '98 Conference Proceedings

Conference_Location

Nice

Print_ISBN

0-7803-5045-6

Type

conf

DOI

10.1109/OCEANS.1998.724377

Filename

724377