AMADEUS: Advanced Manipulation for Deep Underwater Sampling

D. M. Lane; D. J. O'Brien; M. Pickett; J. B C Davies; G. Robinson; D. Jones; E. Scott; G. Casalino; G. Bartolini; G. Cannata; A. Ferrara; D. Angelleti; M. Coccoli; G. Veruggio; R. Bono; P. Virgili; M. Canals; R. Pallas; E. Gracia; C. Smith

AMADEUS: Advanced Manipulation for Deep Underwater Sampling

D. M. Lane, D. J. O'Brien, M. Pickett, J. B C Davies, G. Robinson, D. Jones, E. Scott, G. Casalino, G. Bartolini, G. Cannata, A. Ferrara, D. Angelleti, M. Coccoli, G. Veruggio, R. Bono, P. Virgili, M. Canals, R. Pallas, E. Gracia, C. Smith

School of Engineering & Physical Sciences

Research output: Contribution to journal › Article › peer-review

113 Citations (Scopus)

Abstract

AMADEUS is a dexterous subsea robot hand incorporating force and slip contact sensing, using fluid filled tentacles for fingers. Hydraulic pressure variations in each of three flexible tubes (bellows) in each finger create a bending moment, and consequent motion or increase in contact force during grasping. Such fingers have inherent passive compliance, no moving parts, and are naturally depth pressure-compensated, making them ideal for reliable use in the deep ocean. In addition to the mechanical design, development of the hand has also considered closed loop finger position and force control, coordinated finger motion for grasping, force and slip sensor development/signal processing, and reactive world modeling/planning for supervisory 'blind grasping'. Initially, the application focus is for marine science tasks, but broader roles in offshore oil and gas, salvage, and military use are foreseen. Phase I of the project is complete, with the construction of a first prototype. Phase II is now underway, to deploy the hand from an underwater robot arm, and carry out wet trials with users.

Original language	English
Pages (from-to)	34-45
Number of pages	12
Journal	IEEE Robotics and Automation Magazine
Volume	4
Issue number	4
Publication status	Published - Dec 1997
Event	Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: 20 Apr 1997 → 25 Apr 1997

Keywords

AMADEUS
Robot hands
Undersea robotics

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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Lane, D. M., O'Brien, D. J., Pickett, M., Davies, J. B. C., Robinson, G., Jones, D., Scott, E., Casalino, G., Bartolini, G., Cannata, G., Ferrara, A., Angelleti, D., Coccoli, M., Veruggio, G., Bono, R., Virgili, P., Canals, M., Pallas, R., Gracia, E., & Smith, C. (1997). AMADEUS: Advanced Manipulation for Deep Underwater Sampling. IEEE Robotics and Automation Magazine, 4(4), 34-45.

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abstract = "AMADEUS is a dexterous subsea robot hand incorporating force and slip contact sensing, using fluid filled tentacles for fingers. Hydraulic pressure variations in each of three flexible tubes (bellows) in each finger create a bending moment, and consequent motion or increase in contact force during grasping. Such fingers have inherent passive compliance, no moving parts, and are naturally depth pressure-compensated, making them ideal for reliable use in the deep ocean. In addition to the mechanical design, development of the hand has also considered closed loop finger position and force control, coordinated finger motion for grasping, force and slip sensor development/signal processing, and reactive world modeling/planning for supervisory 'blind grasping'. Initially, the application focus is for marine science tasks, but broader roles in offshore oil and gas, salvage, and military use are foreseen. Phase I of the project is complete, with the construction of a first prototype. Phase II is now underway, to deploy the hand from an underwater robot arm, and carry out wet trials with users.",

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AU - Robinson, G.

AU - Jones, D.

AU - Scott, E.

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AU - Cannata, G.

AU - Ferrara, A.

AU - Angelleti, D.

AU - Coccoli, M.

AU - Veruggio, G.

AU - Bono, R.

AU - Virgili, P.

AU - Canals, M.

AU - Pallas, R.

AU - Gracia, E.

AU - Smith, C.

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ER -

AMADEUS: Advanced Manipulation for Deep Underwater Sampling

Abstract

Keywords

UN SDGs

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