Multi-sensor Based Autonomous Underwater Manipulator Grasp

被引：0

作者：

Xiao, Zhihu ^{[1
]}

Xu, Guohua ^{[1
]}

Peng, Fuyuan ^{[1
]}

Tan, Guo yuan ^{[1
]}

Xu, Xiaolong ^{[1
]}

Shen, Xiong ^{[1
]}

Yang, Bo ^{[1
]}

机构：

[1] Huazhong Univ Sci & Technol, Coll Navy & Ship Sci & Engn, Underwater Technol Lab, Wuhan 430074, Hubei, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, PT I | 2010年 / 6424卷

关键词：

underwater; manipulator; multi-sensor; autonomous grasp;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

As the development of mine, oil and gas resources exploitation in the ocean, the underwater manipulators become necessary tools. But operation of manipulator is tedious. To reduce its dependence on operator, autonomous manipulation is studied. With the support of the Chinese high technology develop program (the 863 program), we design an underwater 3500m electrical driven manipulator. It is equipped with a unique ultra-sonic probe array and an underwater camera. Autonomous grasping a cylinder using ultra-sonic sensor and vision is studied. The sensor system and strategy of autonomous manipulation are discussed in details. Experiments results demonstrated the manipulator autonomous work ability.

引用

页码：530 / 537

页数：8

共 11 条

[1]

[Anonymous], 1999, Visual Methods for Three-Dimensional Modeling

[2]

[Anonymous], P OCEANS 2009 EUR

[3] RECURSIVE ESTIMATION OF MOTION, STRUCTURE, AND FOCAL LENGTH [J].