IEEE Robotics & Automation Magazine - December 2020 - 24
than pneumatic, such as tendon-driving manipulators, origa-
mi-structure-based manipulators, and so forth [31].
disturbance. Although the pitch, roll, and yaw of the robot
were somewhat affected by these disturbances, the compli-
ance of the arm and the gripper compensated for this to some
extent. Eventually, the experiments assessed the system per-
formance in real-world conditions, which demonstrated the
effectiveness of the presented solution.
The results of these protocols highlight how the robotic
system was capable of exerting significant forces comparable
to those obtained with an I-AUV or a small ROV but with
significantly decreased power requirements. However, our
benthic approach exhibits limitations related to long-range
Protocols A-C
In all three scenarios, data were collected in uncontrolled sea
conditions, with waves ranging from 5 to 15 cm. The experi-
ments were conducted at an average depth of roughly 80 cm.
Drag forces, depending on the wave motion and the water
speed, were constantly influencing the performance of the
system. Furthermore, the tests were performed only a few
meters from shore, which increased the hydrodynamic
Approach
Approach
Approach
Grasp
Grasp
Grasp
Release
Release
Release
Shell
Egg Shell
Collect
(a)
Collect
Net
(b)
Collect
(c)
Plastic Bottle
Approach
Approach
Approach
Grasp
Grasp
Grasp
Release
Release
Release
Collect
Collect
Collect
Plastic Bag
(d)
(e)
Net
(f)
Figure 10. The results of the litter and fragile object collection protocol. The color of the marker in the table denotes a successful
(yellow) or failed (red) step of each test. Different objects, such as (a) a seashell, (b) an eggshell, (c) and (f) a net, (d) a plastic bag,
and (e) a plastic bottle, were used during the experiments. Scale bar: 5 cm.
l
h
Over Cliff
Control View
Surrounded
(a)
(b)
Figure 11. The results of undersea grasping in confined spaces. (a) The simulated overhang environment, where h is the height of the
overhang. (b) The simulated enclosed environment, where l is the length of the opening. Scale bar: 5 cm.
24
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
DECEMBER 2020
IEEE Robotics & Automation Magazine - December 2020
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