ArticleFrontiers in robotics and AI2019
An Opposite-Bending-and-Extension Soft Robotic Manipulator for Delicate Grasping in Shallow Water.
Article in Frontiers in robotics and AI, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers, 1 of them a synthesis that pooled it.
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Who cites it
3 citing papers in PubMed, 1 synthesis or guideline pooled it.
- Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers.Sensors (Basel, Switzerland) · 2022Pooled it
- Recent progress on underwater soft robots: adhesion, grabbing, actuating, and sensing.Frontiers in bioengineering and biotechnology · 2023Review
- Underwater Crawling Robot With Hydraulic Soft Actuators.Frontiers in robotics and AI · 2021Article
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Authors and funding
7 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Collecting seafood animals (such as sea cucumbers, sea echini, scallops, etc.) cultivated in shallow water (water depth: ~30 m) is a profitable and an emerging field that requires robotics for replacing human divers. Soft robotics have several promising features (e.g., safe contact with the objects, lightweight, etc.) for performing such a task. In this paper, we implement a soft manipulator with an opposite-bending-and-extension structure. A simple and rapid inverse kinematics method is proposed to control the spatial location and trajectory of the underwater soft manipulator's end effector. We introduce the actuation hardware of the prototype, and then characterize the trajectory and workspace. We find that the prototype can well track fundamental trajectories such as a line and an arc. Finally, we construct a small underwater robot and demonstrate that the underwater soft manipulator successfully collects multiple irregular shaped seafood animals of different sizes and stiffness at the bottom of the natural oceanic environment (water depth: ~10 m).
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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.