RobCutt: A Framework of Underwater Biomimetic Vehicle-Manipulator System for Autonomous Interventions
RobCutt: A Framework of Underwater Biomimetic Vehicle-Manipulator System for Autonomous Interventions
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DOI：
10.1109/coase.2018.8560390
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发表时间：
2018-08
期刊：
影响因子：
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通讯作者：
Chong Tang;Rui Wang;Yu Wang;Shuo Wang;U. V. Lukas;M. Tan
中科院分区：
文献类型：
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作者：
Chong Tang;Rui Wang;Yu Wang;Shuo Wang;U. V. Lukas;M. Tan
提出了用于自主干预的水下仿生机器人-机械手系统(UB-VMS)的总体概念框架、目标、技术和方法。在充分考虑自主巡航和干预的基础上，设计了RobCutt系统的结构和方法，以提高水下机器人-机械手系统(UVMS)的自主性。介绍了第二代UBVMS(RobCutt II)，包括以乌贼为灵感的仿生推进器和轻量化机械手的设计和原理，并总结了其优点。在此基础上，分别设计和实现了水下定位、目标检测和协调控制技术和方法。最后，进行了池测试，以验证所开发的框架和方法的可行性和有效性。
This paper presents a general concept framework of the underwater biomimetic vehicle-manipulator system (UB-VMS) for autonomous interventions in terms of objectives, as well as technologies and methodologies. With full consideration of the autonomous cruise and intervention, the RobCutt system's configuration and methodology are designed to promote the levels of autonomy of the autonomous underwater vehicle-manipulator system (UVMS). The second generation UBVMS (RobCutt II) is introduced, including the design and principle of the biomimetic propulsor inspired by the cuttlefish and lightweight manipulator, and the advantages are concluded. Moreover, technologies and methodologies of underwater localization, object detection and coordination control are designed and accomplished respectively. Finally, pool tests have been carried out to verify the feasibility and effectiveness of the developed framework and methodology.