A cable‐driven underwater robotic system for delicate manipulation of marine biology samples

Underwater robotic systems have the potential to assist and complement humans in dangerous or remote environments, such as in the monitoring, sampling, or manipulation of sensitive underwater species. Here we present the design, modeling, and development of an underwater manipulator (UM) with a ligh...

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Veröffentlicht in:	Journal of field robotics 2024-12, Vol.41 (8), p.2615-2629
Hauptverfasser:	Zarebidoki, Mahmoud, Dhupia, Jaspreet Singh, Liarokapis, Minas, Xu, Weiliang
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators cable‐driven robot Corals fluid dynamics gentle gripping Lightweight Marine biology marine biology manipulation position/force control Remote monitoring Robot arms robotics design Robust control robust‐adaptive control Sampling Seaweeds Sensors Underwater robots Underwater structures Underwater vehicles Weight reduction
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