A Soft Modular End Effector for Underwater Manipulation: A Gentle, Adaptable Grasp for the Ocean Depths.
Domenico MuraManuel BarbarossaGiacomo DinuzziGiorgio GrioliAndrea CaitiManuel G. CatalanoPublished in: IEEE Robotics Autom. Mag. (2018)
Keyphrases
- end effector
- manipulation tasks
- autonomous underwater vehicle
- degrees of freedom
- inverse kinematics
- vision system
- robot arm
- autonomous underwater vehicles
- robot manipulators
- visual servoing
- path planning
- motion planning
- robotic arm
- force feedback
- human arm
- control law
- depth map
- position and orientation
- joint angles
- configuration space
- minimally invasive surgery
- mathematical model