A Robotic Platform for Underwater Assisted Manipulation

This paper describes the structure of an innovative robotic platform that integrates a small work-class ROV, a micro-ROV and a dexterous manipulator. The main feature of the robotic structure is to facilitate underwater tele-manipulation by assisting the operator in piloting the manipulator end-effector and by implementing monitoring procedures that increase situation awareness. Automatic control solutions an d guidelines in the development of the robotic platform are illustrated and discussed.