论文信息 - Advanced manipulation for deep underwater sampling: the AMADEUS research project

Advanced manipulation for deep underwater sampling: the AMADEUS research project

This paper describes the design, development and future activities for the ongoing EU MAST II and III programmes AMADEUS I and II. The AMADEUS is a project focusing on improving the dexterity and sensory abilities of underwater systems for grasping and manipulation of delicate and other objects. Phase I of the project was completed in May 1996, and has developed a prototype dextrous three fingered underwater dextrous gripper. Phase II is now underway to deploy the hand from an underwater robot arm and carry out wet trials with end users. This paper summarizes the major achievements obtained within the programme.

[1] Antonella Ferrara,et al. APPLICATIONS OF A SUB‐OPTIMAL DISCONTINUOUS CONTROL ALGORITHM FOR UNCERTAIN SECOND ORDER SYSTEMS , 1997 .

[2] Giuseppe Casalino,et al. Detaching phenomena in the learning control of manipulation of rigid objects , 1994 .

[3] Giuseppe Casalino,et al. Contact Force Canonical Decomposition and the Role of Internal Forces in Robust Grasp Planning Problems , 1996, Int. J. Robotics Res..

[4] Giuseppe Casalino,et al. Stability and robustness analysis of a two layered hierarchical architecture for the closed loop control of robots in the operational space , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[5] David M. Lane,et al. The AMADEUS dextrous subsea hand: design, modeling, and sensor processing , 1999 .

[6] David M. Lane,et al. Task planning and world modelling for supervisory control of robots in unstructured environments , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.