Vision-Based Underwater Manipulation of a Cable Target
Underwater manipulation tasks are critical for humans, and working in the deep ocean has become a challenging task for robotics. To address this issue, an environmental friendlly electrical manipulator was developed with 6 joints and a maximum working depth of 3000 m, and the position accuracy reached less than 1 mm after kinematical parameter calibration. Moreover, an underwater grasp experiment of a cable target is conducted by fully adopting existing planning and visual technologies, and a 100% success rate is achieved with 30 grasp attempts.
Authors
- Guodong Wang (ORCID: https://orcid.org/0000-0001-9917-0656)
- Xinhui Zheng (ORCID: https://orcid.org/0000-0003-0399-3928)
- Xuejiao Yang
- Qiyan Tian (ORCID: https://orcid.org/0000-0002-8392-7252)
- X. Y. Zhai
- Xiaohui Wang (ORCID: https://orcid.org/0000-0002-3769-2325)
- Yunlong Fan (ORCID: https://orcid.org/0009-0000-7030-4171)
- Qifeng Zhang (ORCID: https://orcid.org/0000-0002-9795-3013)
- Naizhi He
Institutions
- Shenyang Institute of Automation (CN)
- Chinese Academy of Sciences (CN)
Publication Details
- Published
- 2025-06-16
- DOI
- https://doi.org/10.1109/oceans58557.2025.11104357
- Primary Topic
- Robotics and Sensor-Based Localization
- Type
- article
- Field-Weighted Citation Impact
- 0.00