Underwater Robot Manipulation: Advances, Challenges and Prospective Ventures

Underwater manipulation is one of the most remarkable ongoing research subjects in robotics. Intervention autonomous underwater vehicles (I-AUVs) not only have to cope with the technical challenges associated with traditional manipulation tasks but do so while currents and waves perturb the stabilit...

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Bibliographic Details
Published inOCEANS 2022 - Chennai pp. 1 - 7
Main Authors Aldhaheri, Sara, De Masi, Giulia, Pairet, Eric, Ardon, Paola
Format Conference Proceeding
LanguageEnglish
Published IEEE 21.02.2022
Subjects
Autonomous underwater vehicles
Limiting
Manipulator dynamics
Oceans
Robots
Task analysis
Vehicle dynamics
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Summary:Underwater manipulation is one of the most remarkable ongoing research subjects in robotics. Intervention autonomous underwater vehicles (I-AUVs) not only have to cope with the technical challenges associated with traditional manipulation tasks but do so while currents and waves perturb the stability of the vehicle, and low-light, turbid water conditions impede perceiving the surroundings. Certainly, the dynamic nature and our limited understanding of the marine environment hinder the autonomous performance of underwater robot manipulation. This manuscript provides a discussion on previous research and the limiting factors that impose on the long-envisioned prospects of autonomous underwater manipulation to finally highlight research directions that have the potential to improve the autonomy capabilities of I-AUVs.
DOI:10.1109/OCEANSChennai45887.2022.9775489