An Underwater Robotic Manipulator with Soft Bladders and Compact Depth-Independent Actuation.

ABSTRACT: An underwater manipulator is essential for underwater robotic sampling and other service operations. Conventional rigid body underwater manipulators generally required substantial size and weight, leading to hindered general applications. Pioneering soft robotic underwater manipulators have defied this by offering dexterous and lightweight arms and grippers, but still requiring substantial actuation and control components to withstand the water pressure and achieving the desired dynamic performance. In this work, we propose a novel approach to underwater manipulator design and control, exploiting the unique characteristics of soft robots, with a hybrid structure (rigid frame+soft actuator) for improved rigidity and force output, a uniform actuator design allowing one compact hydraulic actu

SUBMITTER: Shen Z 

PROVIDER: S-EPMC7591381 | biostudies-literature | 2020 Oct

REPOSITORIES: biostudies-literature