AMADEUS is a dexterous subsea robot hand incorporating force and slip contact sensing, using fluid-filled tentacles for fingers. Hydraulic pressure variations in each of three flexible tubes (bellows) in each finger create a bending moment, and consequent motion or increase in contact force during grasping. Such fingers have inherent passive compliance, no moving parts, and are naturally depth pressure-compensated, making them ideal for reliable use in the deep ocean. In addition to the mechanical design, development of the hand has also been considered for closed loop finger position and force control, coordinated finger motion for grasping, force and slip sensor development/signal processing, and reactive world modelling/planning for supervisory "blind grasping". Initially, the application focus is for marine science tasks, but broader roles in offshore oil and gas, salvage, and military use are foreseen. Phase I of the project has been completed, with the construction of a first prototype. This paper summarizes the developments in Phase I. Further details for each area of investigation are referenced.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    AMADEUS: advanced manipulator for deep underwater sampling


    Beteiligte:
    Lane, D.M. (Autor:in) / Davies, J.B.C. (Autor:in) / Robinson, G. (Autor:in) / O'Brien, D.J. (Autor:in) / Pickett, M. (Autor:in) / Jones, D. (Autor:in) / Scott, E. (Autor:in) / Wang, Y. (Autor:in) / Casalino, G. (Autor:in) / Bartolini, G. (Autor:in)


    Erscheinungsdatum :

    1997


    Format / Umfang :

    7 Seiten, 12 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    AMADEUS: advanced manipulation for deep underwater sampling

    Lane, David M. / Davies, J. B. C. / Casalino, G. et al. | BASE | 1997

    Freier Zugriff

    AMADEUS: advanced manipulation for deep underwater sampling

    Lane, D.M. / Davies, J.B.C. / Casalino, G. et al. | Tema Archiv | 1997


    UNDERWATER MANIPULATOR

    WANG JI / LI YITONG | Europäisches Patentamt | 2023

    Freier Zugriff


    [Erhard Amadeus Dier]

    Dier, Erhard Amadeus | GWLB - Gottfried Wilhelm Leibniz Bibliothek | 1920