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October 5th 2018IROS, Madrid
Recent advances in underwater manipulation within the DexROV project
Recent advances in underwater manipulation within the DexROV project
Gianluca AntonelliISME & University of Cassino
http://pages.unicas.it/gianluca-antonelliwww.isme.unige.it
October 5th 2018IROS, Madrid
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European project funded by the Horizon2020 scheme
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• Nodes:● Ancona● Bologna● Cassino● Cosenza● Firenze● Genova● Lecce● Pisa● Roma Sapienza
October 5th 2018IROS, Madrid
DexROV concept
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DexROV concept, a closer view
October 5th 2018IROS, Madrid
The exoscheleton and virtual reality
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developed by SpaceApps
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The exoscheleton and virtual reality
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developed by Idiap(http://calinon.ch)
Cognitive engine
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Cognitive engine
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Vehicle-arm control
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developed by ISME (Cassino, Genova & Lecce nodes)
October 5th 2018IROS, Madrid
Set-based-task-priority Inverse Kinematics
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October 5th 2018IROS, Madrid
Tasks classification
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Mechanical joint limitsObstacle avoidance
Virtual wallsSelf-hits
Set-based, safety-related tasks
e.e. positione.e. orientation
Mission-oriented tasks
ManipulabilityField of view
Directional sensorsOptimization tasks
PRIORITY
(inerithed by similar work done at POLIMI or DLR)
October 5th 2018IROS, Madrid
Admittance within set-based-task-priority
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Off-the-shelf dynamic controller (vehicle, arm & hand)
Whole-body kinematic controlInteraction control loop
low levelcontroller
+set-basedtask-priorityimpedance
October 5th 2018IROS, Madrid
The Hardware
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Comex+GT+Jacobs
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The Hardware
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The Hardware
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The valve
• configuration-dependent spring
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The valve
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Dry tests
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Autonomous compensation of the tracking errors
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Dry tests
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Admittance loop tuning
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October 5th 2018IROS, Madrid
The turn valve operation
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june 2018
• 30m depth• 1 arm + grabber configuration• dummy hand :( • Tested pipeline
● exoscheleton● learning node● satellite comm● vision● reconstruction node● inverse kinematics
● full implementation: admittance, safety, e.e position-orientation
• operation repeated• crash tests with intentional impact tested
Marseille
Zaventem
October 5th 2018IROS, Madrid
Onboard-view video of the results
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Integration
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• few weeks of full HW at disposal• hard work of partial preliminary integration
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THANKS
