Towards a fine manipulation system with tactile feedback for deep-sea environments

Peter Kampmann; Frank Kirchner

In: Robotics and Autonomous Systems (RAS), Vol. 67, Pages 115-121, Elsevier, 2015.


Deep-sea manipulation is among the most challenging tasks in underwater robotics. Commonly used manipulation systems consist of a two-limb gripper system with limited force-feedback. Poor viewing conditions due to hazy water and missing depth information complicate the execution of manipulation tasks. By looking at the variety of different tasks that need to be fulfilled a design for a multi-limb gripper system is derived that is equipped with tactile sensors which allow fine-manipulation tasks. The feasibility of the described approach is demonstrated by testing one finger of the manipulation system in a pressure chamber under 600 bar.


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141022_Towards_a_fine_manipulation_system_with_tactile_feedback_for_deep-sea_Journal_Kampmann.pdf (pdf, 1 MB )

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence