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Title: AMADEUS: Advanced MAnipulator for DEep Underwater Sampling
Author: Lane, DM, Davies, JBC, Robinson, G, OBrien, DJ, Pickett, M, Jones, D, Scott, E and
Year: 1997
Book / Journal: 1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4
Pages: 2145-2151
Abstract: AMADEUS is a dextrous 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 considered closed loop finger position and force control, co-ordinated 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 is complete, with the construction of a first prototype. Phase II is now underway, to deploy the hand from an underwater robot arm, and carry out wet trials with users. This paper summarizes the developments in phase I. Further details for each area of investigation are referenced.
Keywords: ,
BibTex: @inproceedings{ ISI:A1997BJ42X00341,
Author = {Lane, DM and Davies, JBC and Robinson, G and OBrien, DJ and Pickett, M
   and Jones, D and Scott, E and Yang, Y and Casalino, G and Bartolini, G
   and Cannata, G and Ferrara, A and Angelleti, D and Coccoli, M and
   Veruggio, G and Bono, R and Virgili, P and Bruzzone, G and Canals, M
   and Pallas, R and Gracia, E and Smith, C},
Book-Group-Author = {{IEEE}},
Title = {{AMADEUS: Advanced MAnipulator for DEep Underwater Sampling}},
Booktitle = {{1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION -
   PROCEEDINGS, VOLS 1-4}},
Series = {{IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION}},
Year = {{1997}},
Pages = {{2145-2151}},
Note = {{1997 IEEE International Conference on Robotics and Automation (ICRA97)
   - Teaming to Make an Impact, ALBUQUERQUE, NM, APR 20-25, 1997}},
Abstract = {{AMADEUS is a dextrous 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 considered closed loop finger position and force control,
   co-ordinated 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 is
   complete, with the construction of a first prototype. Phase II is now
   underway, to deploy the hand from an underwater robot arm, and carry
   out wet trials with users. This paper summarizes the developments in
   phase I. Further details for each area of investigation are referenced.}},
ISSN = {{1050-4729}},
ISBN = {{0-7803-3613-5}},
Unique-ID = {{ISI:A1997BJ42X00341}},

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