Details
| Original language | English |
|---|---|
| Title of host publication | 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1498-1504 |
| Number of pages | 7 |
| ISBN (electronic) | 9798350384574 |
| ISBN (print) | 979-8-3503-8458-1 |
| Publication status | Published - 2024 |
| Event | 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan Duration: 13 May 2024 → 17 May 2024 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| ISSN (Print) | 1050-4729 |
Abstract
The extreme conditions of the deep sea require the use of large and expensive diving robots designed to withstand the high pressure in these depths. In order to reduce the costs for sediment sampling in the deep sea and thus facilitate the explorations of rare deep-sea ecosystems, the goal of this research is to design an alternative manipulator for deep-sea suction sampling. Instead of relying on heavy hydraulic rigid manipulators that deep-sea diving robots are commonly equipped with, we introduce a new concept for a lightweight actuation system that can be used in combination with a traditional diving robot and a suction sampling system. The proposed concept consists of a series of rigid links connected by angled swivel joints. Each segment is actuated by tendons, which allows for continuous bending. The system can be adapted to various sizes of host systems, and the links and joints are printed in place, simplifying the manufacturing process.
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Electrical and Electronic Engineering
- Computer Science(all)
- Artificial Intelligence
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2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc., 2024. p. 1498-1504 (Proceedings - IEEE International Conference on Robotics and Automation).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Tendon-Driven Continuum Robot for Deep-Sea Application
AU - Sourkounis, Cora Maria
AU - Kwasnitschka, Tom
AU - Raatz, Annika
N1 - Publisher Copyright: © 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - The extreme conditions of the deep sea require the use of large and expensive diving robots designed to withstand the high pressure in these depths. In order to reduce the costs for sediment sampling in the deep sea and thus facilitate the explorations of rare deep-sea ecosystems, the goal of this research is to design an alternative manipulator for deep-sea suction sampling. Instead of relying on heavy hydraulic rigid manipulators that deep-sea diving robots are commonly equipped with, we introduce a new concept for a lightweight actuation system that can be used in combination with a traditional diving robot and a suction sampling system. The proposed concept consists of a series of rigid links connected by angled swivel joints. Each segment is actuated by tendons, which allows for continuous bending. The system can be adapted to various sizes of host systems, and the links and joints are printed in place, simplifying the manufacturing process.
AB - The extreme conditions of the deep sea require the use of large and expensive diving robots designed to withstand the high pressure in these depths. In order to reduce the costs for sediment sampling in the deep sea and thus facilitate the explorations of rare deep-sea ecosystems, the goal of this research is to design an alternative manipulator for deep-sea suction sampling. Instead of relying on heavy hydraulic rigid manipulators that deep-sea diving robots are commonly equipped with, we introduce a new concept for a lightweight actuation system that can be used in combination with a traditional diving robot and a suction sampling system. The proposed concept consists of a series of rigid links connected by angled swivel joints. Each segment is actuated by tendons, which allows for continuous bending. The system can be adapted to various sizes of host systems, and the links and joints are printed in place, simplifying the manufacturing process.
UR - http://www.scopus.com/inward/record.url?scp=85202447850&partnerID=8YFLogxK
U2 - 10.1109/ICRA57147.2024.10611177
DO - 10.1109/ICRA57147.2024.10611177
M3 - Conference contribution
AN - SCOPUS:85202447850
SN - 979-8-3503-8458-1
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1498
EP - 1504
BT - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Y2 - 13 May 2024 through 17 May 2024
ER -