IEEE Robotics & Automation Magazine - December 2018 - 24
©istockphoto.com/istockphoto/Andrey suslov
Dexterous Underwater
Manipulation from
Onshore Locations
Streamlining Efficiencies
for Remotely Operated
Underwater Vehicles
By Andreas Birk, Tobias Doernbach,
Christian Atanas Müller, Tomasz Luczynski,
Arturo Gomez Chavez, Daniel Köhntopp,
Andras Kupcsik, Sylvain Calinon, Ajay K. Tanwani,
Gianluca Antonelli, Paolo di Lillo, Enrico Simetti,
Giuseppe Casalino, Giovanni Indiveri, Luigi Ostuni,
Alessio Turetta, Andrea Caffaz, Peter Weiss,
Thibaud Gobert, Bertrand Chemisky, Jeremi Gancet,
Torsten Siedel, Shashank Govindaraj, Xavier Martinez,
and Pierre Letier
Digital Object Identifier 10.1109/MRA.2018.2869523
Date of publication: 4 October 2018
24
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IEEE ROBOTICS & AUTOMATION MAGAZINE
*
december 2018
U
nderwater manipulation is a challenging pro-
blem. The state-of-the-art technology is dominated
by remotely operated vehicles (ROVs). ROV
operations typically require an offshore crew
consisting of, at minimum, an intendant (or
supervisor), an operator, and a navigator. This crew must
often be doubled or even tripled due to work shifts. In
addition, customer representatives often wish to be physically
present offshore. Furthermore, underwater intervention
missions are still dominated by a significant amount of low-
level, manual control of the manipulator(s) and of the
vehicle itself. While there is a significant amount of re-
search on autonomous underwater vehicles (AUVs) in
general and fieldable solutions already exist for inspection and
exploration missions, possibilities remain for adding
intelligent autonomous functions for interventions.
1070-9932/18©2018IEEE
http://www.istockphoto.com/istockphoto/Andrey
IEEE Robotics & Automation Magazine - December 2018
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2018
Contents
IEEE Robotics & Automation Magazine - December 2018 - Cover1
IEEE Robotics & Automation Magazine - December 2018 - Cover2
IEEE Robotics & Automation Magazine - December 2018 - Contents
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IEEE Robotics & Automation Magazine - December 2018 - Cover3
IEEE Robotics & Automation Magazine - December 2018 - Cover4
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