PUMA
Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Angeletti D., Bruzzone G., Caccia M., Cannata G., Casalino G., Reto S., Veruggio G. AMADEUS: dual-arm workcell for co-ordinated and dexterous manipulation. In: Oceans '98 - Conference proceedings (Nice, France, 28 September - 1 October 1998). Proceedings, vol. 2 pp. 947 - 952. IEEE, 1998.
 
 
Abstract
(English)
The AMADEUS research project aims at the improvement of the dexterity and sensory abilities of underwater manipulation systems, in support of marine geology and benthic science. Of particular interest in phase II of the project is the study of the co-ordinated control of two underwater 7 degrees of freedom electromechanical arms. This testbed, which can be used for grasping and manipulation of large and heavy objects, is suitably sensorized with underwater force/torque and tactile sensors. The system is operated by a human operator through a tele-assisted control architecture.
DOI: 10.1109/OCEANS.1998.724377
Subject computerised control
dexterous manipulators
force sensors
man-machine systems
marine systems
position control
project engineering
tactile sensors
telerobotics


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