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3D Laser Scanner for Underwater Manipulation

Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, wh...

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Detalles Bibliográficos
Autores principales: Palomer, Albert, Ridao, Pere, Youakim, Dina, Ribas, David, Forest, Josep, Petillot, Yvan
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5948579/
https://www.ncbi.nlm.nih.gov/pubmed/29617303
http://dx.doi.org/10.3390/s18041086
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author Palomer, Albert
Ridao, Pere
Youakim, Dina
Ribas, David
Forest, Josep
Petillot, Yvan
author_facet Palomer, Albert
Ridao, Pere
Youakim, Dina
Ribas, David
Forest, Josep
Petillot, Yvan
author_sort Palomer, Albert
collection PubMed
description Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.
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spelling pubmed-59485792018-05-17 3D Laser Scanner for Underwater Manipulation Palomer, Albert Ridao, Pere Youakim, Dina Ribas, David Forest, Josep Petillot, Yvan Sensors (Basel) Article Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank. MDPI 2018-04-04 /pmc/articles/PMC5948579/ /pubmed/29617303 http://dx.doi.org/10.3390/s18041086 Text en © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Palomer, Albert
Ridao, Pere
Youakim, Dina
Ribas, David
Forest, Josep
Petillot, Yvan
3D Laser Scanner for Underwater Manipulation
title 3D Laser Scanner for Underwater Manipulation
title_full 3D Laser Scanner for Underwater Manipulation
title_fullStr 3D Laser Scanner for Underwater Manipulation
title_full_unstemmed 3D Laser Scanner for Underwater Manipulation
title_short 3D Laser Scanner for Underwater Manipulation
title_sort 3d laser scanner for underwater manipulation
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5948579/
https://www.ncbi.nlm.nih.gov/pubmed/29617303
http://dx.doi.org/10.3390/s18041086
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