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dc.contributor.authorSkaldebø, Martin Breivik
dc.contributor.authorHaugaløkken, Bent Oddvar Arnesen
dc.contributor.authorSchjølberg, Ingrid
dc.date.accessioned2022-11-24T07:37:19Z
dc.date.available2022-11-24T07:37:19Z
dc.date.created2022-04-22T10:01:27Z
dc.date.issued2021
dc.identifier.citation2021 European Control Conference (ECC)en_US
dc.identifier.isbn978-9-4638-4236-5
dc.identifier.urihttps://hdl.handle.net/11250/3033764
dc.description.abstractThis paper presents an electrically driven underwater manipulator named SeaArm-2 and considers the kinematic control approach to perform autonomous fixed-base grasping of an object of known size and shape at unknown positions underwater. SeaArm-2 has an integrated monocular camera near the gripper, which enables perception and object detection capabilities without the need for an external system. Furthermore, this work presents autonomous fixed-base seabed grasping operations utilizing the integrated camera and object detection functionality through a novel open source machine learning framework. A total of 20 trials have been conducted where the object was placed within reach but out of sight of the manipulator. The results from the experimental testing showed that the manipulator was able to detect the object in all trials, and successfully grasp the object in 17/20 trials.en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.ispartof2021 European Control Conference, ECC 2021
dc.titleSeaArm-2 - Fully electric underwater manipulator with integrated end-effector cameraen_US
dc.title.alternativeSeaArm-2 - Fully electric underwater manipulator with integrated end-effector cameraen_US
dc.typeChapteren_US
dc.description.versionpublishedVersionen_US
dc.rights.holderThis article is not available in NTNU Open due to copyright restrictionsen_US
dc.source.pagenumber236-242en_US
dc.identifier.doi10.23919/ECC54610.2021.9655121
dc.identifier.cristin2018323
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.qualitycode1


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