Publication
Equipping industrial deep-sea manipulators with a sense of touch
Peter Kampmann; Timo Stoffregen; Frank Kirchner
In: Proceedings of the Oceans'15 MTS/IEEE Washington Conference & Exhibition, At Washington D.C. OCEANS MTS/IEEE Conference (OCEANS-15), October 19-22, Washington D.C. USA, MTS/IEEE, 2015.
Abstract
Tactile manipulation underwater is a topic that is still mainly implemented in research. To change the situation, a drop-in replacement for the jaw gripper of an industrial deepsea
manipulator is developed that is equipped with tactile sensing elements. Special focus has been paid on the robustness of the tactile sensing elements to operate under the harsh environmental conditions during offshore operations. This paper discusses the system design and the sensor performance of the deveveloped gripper module.
Projects
- LIMES - LIMES - Learning Intelligent Motions for Kinematically Complex Robots for Exploration in Space
- SeeGrip - Autonomous underwater gripper with tactile feedback for form- and force closed object manipulation
- TransTerrA - Semi-autonomous cooperative exploration of planetary surfaces including the installation of a logistic chain as well as consideration of the terrestrial applicability of individual aspects