Dexterous Underwater Manipulation from Onshore Locations: Streamlining Efficiencies for Remotely Operated Underwater Vehicles

Andreas Birk, Tobias Doernbach, Christian Mueller, Tomasz Luczynski, Arturo Gomez Chavez, Daniel Koehntopp, Andras Kupcsik, Sylvain Calinon, Ajay Kumar Tanwani, Gianluca Antonelli, Paolo Di Lillo, Enrico Simetti, Giuseppe Casalino, Giovanni Indiveri, Luigi Ostuni, Alessio Turetta, Andrea Caffaz, Peter Weiss, Thibaud Gobert, Bertrand ChemiskyJeremi Gancet, Torsten Siedel, Shashank Govindaraj, Xavier Martinez, Pierre Letier

Research output: Contribution to journalArticlepeer-review

45 Citations (Scopus)

Abstract

Underwater manipulation is a challenging problem. The state-of-the-art technology is dominated by remotely operated vehicles (ROVs). ROV operations typically require an offshore crew consisting of, at minimum, an intendant (or supervisor), an operator, and a navigator. This crew must often be doubled or even tripled due to work shifts. In addition, customer representatives often wish to be physically present offshore. Furthermore, underwater intervention missions are still dominated by a significant amount of lowlevel, manual control of the manipulator(s) and of the vehicle itself. While there is a significant amount of research on autonomous underwater vehicles (AUVs) in general and fieldable solutions already exist for inspection and exploration missions, possibilities remain for adding intelligent autonomous functions for interventions.
Original languageEnglish
Pages (from-to)24-33
Number of pages10
JournalIEEE Robotics and Automation Magazine
Volume25
Issue number4
Early online date8 Oct 2018
DOIs
Publication statusPublished - Dec 2018

Keywords

  • Bandwidth
  • Exoskeletons
  • Manipulators
  • Satellites
  • Task analysis
  • Teleoperators

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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