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dc.contributor.authorFernández Fresneda, José Javier
dc.contributor.authorPrats, Mario
dc.contributor.authorSanz Valero, Pedro José
dc.contributor.authorGarcía, Juan Carlos
dc.contributor.authorMarín Prades, Raúl
dc.contributor.authorRobinson, Mike
dc.contributor.authorRibas, David
dc.contributor.authorRidao, Pere
dc.date.accessioned2014-03-21T17:39:07Z
dc.date.available2014-03-21T17:39:07Z
dc.date.issued2013
dc.identifier.citationRobotics & Automation Magazine, IEEE (Volume:20 , Issue: 4 )ca_CA
dc.identifier.issn1070-9932
dc.identifier.issn1558-223X
dc.identifier.urihttp://hdl.handle.net/10234/88269
dc.description.abstractA new underwater robot arm was developed through intensive cooperation between different academic institutions and an industrial company. The manipulator, which was initially designed to be teleoperated, was adapted for our autonomy needs. Its dimensions and weight were reduced, and its kinematic model was developed so that autonomous control can be performed with it. We compare several commercially available underwater manipulators and describe the development of the new one, from its initial configuration to its mechanical adaptation, modeling, control, and final assembly on an autonomous underwater vehicle (AUV). The feasibility and reliability of this arm is demonstrated in water tank conditions, where various innovative autonomous object-recovery operations are successfully performed, both in stand-alone operation and integrated in an AUV prototype.ca_CA
dc.format.extent10 p.ca_CA
dc.format.mimetypeapplication/pdfca_CA
dc.language.isoengca_CA
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)ca_CA
dc.relation.isPartOfRobotics & Automation Magazine, IEEE, 2013, vol. 20, no 4ca_CA
dc.rightsCopyright © 2013, IEEEca_CA
dc.subjectUnderwater robot armca_CA
dc.titleGrasping for the Seabed: Developing a New Underwater Robot Arm for Shallow-Water Interventionca_CA
dc.typeinfo:eu-repo/semantics/articleca_CA
dc.identifier.doihttp://dx.doi.org/10.1109/MRA.2013.2248307
dc.rights.accessRightsinfo:eu-repo/semantics/openAccessca_CA
dc.relation.publisherVersionhttp://ieeexplore.ieee.org/search/searchresult.jsp?newsearch=true&queryText=Grasping+for+the+Seabed%3A+Developing+a+New+Underwater+Robot+Arm+for+Shallow-Water+Intervention&x=0&y=0ca_CA


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