An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping

doi:10.1109/TMECH.2023.3321054

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping
	Liu, Jiaqi 7; Song, Zhuheng 6; Lu, Yue 5; Yang, Hui 4; Chen, Xingyu 3; Duo, Youning 7; Chen, Bohan 7; Kong, Shihan 3; Shao, Zhuyin 7; Gong, Zheyuan 2
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2023-10-24
页码	12
关键词	Grasping Robots Soft robotics Manipulator dynamics Task analysis Robot kinematics Biology Machine learning soft robotics underwater grasping
ISSN号	1083-4435
DOI	10.1109/TMECH.2023.3321054
通讯作者	Wen, Li(liwen@buaa.edu.cn)
英文摘要	Delicate underwater manipulation tasks such as biological specimen collection are promising fields that require new robotic designs and intelligent robotic technologies. In this study, we proposed an automatic aquatic object-collecting system with a soft manipulator controlled by a reinforcement learning-based controller. For underwater sensing, we implemented a visual perception framework to restore the quality of the underwater image, detect the seafood animals, and track the target's position. The online learning ability of the reinforcement learning-based controller endowed strong adaptability for the soft manipulator against underwater disturbances. The water tank grasping tests show a 91.7% successful grasping rate without flow disturbance and 83.3% with flow disturbances. We demonstrated that the soft robotic collecting system gripped seafood animals in a lab aquarium as well as the natural seabed environment. The real-world experimental results showed that the robot successfully collected 28 shells within 40 min at a water depth of 15 m and even completed grasping tasks in a dark environment. Our results demonstrated that this manipulator prototype is potentially applicable for fully autonomous delicate objects underwater.
资助项目	National Science Foundation support projects, China[T2121003] ; National Science Foundation support projects, China[92048302] ; National Science Foundation support projects, China[61822303] ; National Key R&D Program of China[2022YFB4701800]
WOS关键词	DESIGN ; ARM
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001092437300001
资助机构	National Science Foundation support projects, China ; National Key R&D Program of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/54286]
专题	多模态人工智能系统全国重点实验室
通讯作者	Wen, Li
作者单位	1.Peking Univ, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 2.Univ Toronto, Toronto, ON M5S 1A1, Canada 3.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, Beijing 100871, Peoples R China 4.Guangdong Acad Sci, Inst Semicond, Guangzhou 510610, Guangdong, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 6.Chinese Acad Sci, Inst Deep Sea Sci & Engn, Sanya 572000, Peoples R China 7.Beihang Univ, Sch Mech Engn & Automat, Beijing 100191, Peoples R China
推荐引用方式 GB/T 7714	Liu, Jiaqi,Song, Zhuheng,Lu, Yue,et al. An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:12.
APA	Liu, Jiaqi.,Song, Zhuheng.,Lu, Yue.,Yang, Hui.,Chen, Xingyu.,...&Wen, Li.(2023).An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12.
MLA	Liu, Jiaqi,et al."An Underwater Robotic System With a Soft Continuum Manipulator for Autonomous Aquatic Grasping".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):12.