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An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping

文献类型：期刊论文

作者Liu, Jiaqi7; Song, Zhuheng6; Lu, Yue5; Yang, Hui4; Chen, Xingyu3; Duo, Youning7; Chen, Bohan7; Kong, Shihan3; Shao, Zhuyin7; Gong, Zheyuan2
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2023-10-24
页码12
关键词Grasping Robots Soft robotics Manipulator dynamics Task analysis Robot kinematics Biology Machine learning soft robotics underwater grasping
ISSN号1083-4435
DOI10.1109/TMECH.2023.3321054
通讯作者Wen, Li(liwen@buaa.edu.cn)
英文摘要Delicate underwater manipulation tasks such as biological specimen collection are promising fields that require new robotic designs and intelligent robotic technologies. In this study, we proposed an automatic aquatic object-collecting system with a soft manipulator controlled by a reinforcement learning-based controller. For underwater sensing, we implemented a visual perception framework to restore the quality of the underwater image, detect the seafood animals, and track the target's position. The online learning ability of the reinforcement learning-based controller endowed strong adaptability for the soft manipulator against underwater disturbances. The water tank grasping tests show a 91.7% successful grasping rate without flow disturbance and 83.3% with flow disturbances. We demonstrated that the soft robotic collecting system gripped seafood animals in a lab aquarium as well as the natural seabed environment. The real-world experimental results showed that the robot successfully collected 28 shells within 40 min at a water depth of 15 m and even completed grasping tasks in a dark environment. Our results demonstrated that this manipulator prototype is potentially applicable for fully autonomous delicate objects underwater.
WOS关键词DESIGN ; ARM
资助项目National Science Foundation support projects, China[T2121003] ; National Science Foundation support projects, China[92048302] ; National Science Foundation support projects, China[61822303] ; National Key R&D Program of China[2022YFB4701800]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:001092437300001
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Science Foundation support projects, China ; National Key R&D Program of China
源URL[http://ir.idsse.ac.cn/handle/183446/10606]  
专题深海工程技术部_深海信息技术研究室
通讯作者Wen, Li
作者单位1.Peking Univ, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
2.Univ Toronto, Toronto, ON M5S 1A1, Canada
3.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, Beijing 100871, Peoples R China
4.Guangdong Acad Sci, Inst Semicond, Guangzhou 510610, Guangdong, Peoples R China
5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
6.Chinese Acad Sci, Inst Deep Sea Sci & Engn, Sanya 572000, Peoples R China
7.Beihang Univ, Sch Mech Engn & Automat, Beijing 100191, Peoples R China
推荐引用方式
GB/T 7714		 Liu, Jiaqi,Song, Zhuheng,Lu, Yue,et al. An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:12.
APA Liu, Jiaqi.,Song, Zhuheng.,Lu, Yue.,Yang, Hui.,Chen, Xingyu.,...&Wen, Li.(2023).An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12.
MLA Liu, Jiaqi,et al."An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):12.

入库方式： OAI收割

来源：深海科学与工程研究所

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