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Article: An Underwater Robotic Manipulator with Soft Bladders and Compact Depth-Independent Actuation

TitleAn Underwater Robotic Manipulator with Soft Bladders and Compact Depth-Independent Actuation
Authors
Keywordsunderwater robot
soft actuator
underwater manipulation
hydraulic control system
Issue Date2020
PublisherMary Ann Liebert, Inc. Publishers. The Journal's web site is located at http://www.liebertpub.com/overview/soft-robotics/616/
Citation
Soft Robotics, 2020, Epub 2020-02-28 How to Cite?
AbstractAn underwater manipulator is essential for underwater robotic sampling and other service operations. Conventional rigid body underwater manipulators generally required substantial size and weight, leading to hindered general applications. Pioneering soft robotic underwater manipulators have defied this by offering dexterous and lightweight arms and grippers, but still requiring substantial actuation and control components to withstand the water pressure and achieving the desired dynamic performance. In this work, we propose a novel approach to underwater manipulator design and control, exploiting the unique characteristics of soft robots, with a hybrid structure (rigid frame+soft actuator) for improved rigidity and force output, a uniform actuator design allowing one compact hydraulic actuation system to drive all actuators, and a novel fully customizable soft bladder design that improves performances in multiple areas: (1) force output of the actuator is decoupled from the working depth, enabling wide working ranges; (2) all actuators are connected to the main hydraulic line without actuator-specific control loop, resulting in a very compact actuation system especially for high-dexterity cases; (3) dynamic responses were improved significantly compared with the counter system without bladder. A prototype soft manipulator with 4-DOFs, dual bladders, and 15 N payload was developed; the entire system (including actuation, control, and batteries) could be mounted onto a consumer-grade remotely operated vehicle, with depth-independent performances validated by various laboratory and field test results across various climatic and hydrographic conditions. Analytical models and validations of the proposed soft bladder design were also presented as a guideline for other applications.
Persistent Identifierhttp://hdl.handle.net/10722/285079
ISSN
2019 Impact Factor: 5.543
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorSHEN, Z-
dc.contributor.authorZHONG, H-
dc.contributor.authorXu, E-
dc.contributor.authorZHANG, R-
dc.contributor.authorYip, KC-
dc.contributor.authorChan, LL-
dc.contributor.authorChan, LL-
dc.contributor.authorPan, J-
dc.contributor.authorWang, W-
dc.contributor.authorWang, Z-
dc.date.accessioned2020-08-07T09:06:26Z-
dc.date.available2020-08-07T09:06:26Z-
dc.date.issued2020-
dc.identifier.citationSoft Robotics, 2020, Epub 2020-02-28-
dc.identifier.issn2169-5172-
dc.identifier.urihttp://hdl.handle.net/10722/285079-
dc.description.abstractAn underwater manipulator is essential for underwater robotic sampling and other service operations. Conventional rigid body underwater manipulators generally required substantial size and weight, leading to hindered general applications. Pioneering soft robotic underwater manipulators have defied this by offering dexterous and lightweight arms and grippers, but still requiring substantial actuation and control components to withstand the water pressure and achieving the desired dynamic performance. In this work, we propose a novel approach to underwater manipulator design and control, exploiting the unique characteristics of soft robots, with a hybrid structure (rigid frame+soft actuator) for improved rigidity and force output, a uniform actuator design allowing one compact hydraulic actuation system to drive all actuators, and a novel fully customizable soft bladder design that improves performances in multiple areas: (1) force output of the actuator is decoupled from the working depth, enabling wide working ranges; (2) all actuators are connected to the main hydraulic line without actuator-specific control loop, resulting in a very compact actuation system especially for high-dexterity cases; (3) dynamic responses were improved significantly compared with the counter system without bladder. A prototype soft manipulator with 4-DOFs, dual bladders, and 15 N payload was developed; the entire system (including actuation, control, and batteries) could be mounted onto a consumer-grade remotely operated vehicle, with depth-independent performances validated by various laboratory and field test results across various climatic and hydrographic conditions. Analytical models and validations of the proposed soft bladder design were also presented as a guideline for other applications.-
dc.languageeng-
dc.publisherMary Ann Liebert, Inc. Publishers. The Journal's web site is located at http://www.liebertpub.com/overview/soft-robotics/616/-
dc.relation.ispartofSoft Robotics-
dc.rightsSoft Robotics. Copyright © Mary Ann Liebert, Inc. Publishers.-
dc.rightsThis work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.-
dc.subjectunderwater robot-
dc.subjectsoft actuator-
dc.subjectunderwater manipulation-
dc.subjecthydraulic control system-
dc.titleAn Underwater Robotic Manipulator with Soft Bladders and Compact Depth-Independent Actuation-
dc.typeArticle-
dc.identifier.emailPan, J: jpan@cs.hku.hk-
dc.identifier.emailWang, W: wenping@cs.hku.hk-
dc.identifier.emailWang, Z: zwangski@hku.hk-
dc.identifier.authorityPan, J=rp01984-
dc.identifier.authorityWang, W=rp00186-
dc.identifier.authorityWang, Z=rp01915-
dc.description.naturepublished_or_final_version-
dc.identifier.doi10.1089/soro.2019.0087-
dc.identifier.scopuseid_2-s2.0-85089820701-
dc.identifier.hkuros312127-
dc.identifier.volumeEpub 2020-02-28-
dc.identifier.isiWOS:000517920400001-
dc.publisher.placeUnited States-

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