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C-Manipulator: An Autonomous Dual Manipulator Project for Underwater Inspection and Maintenance

[+] Author Affiliations
Dirk Spenneberg, Jan Albiez, Frank Kirchner, Jochen Kerdels, Sascha Fechner

DFKI - German Research Center for Artificial Intelligence, Bremen, Germany

Paper No. OMAE2007-29202, pp. 437-443; 7 pages
  • ASME 2007 26th International Conference on Offshore Mechanics and Arctic Engineering
  • Volume 4: Materials Technology; Ocean Engineering
  • San Diego, California, USA, June 10–15, 2007
  • Conference Sponsors: Ocean, Offshore and Arctic Engineering Division
  • ISBN: 0-7918-4270-3 | eISBN: 0-7918-3799-8
  • Copyright © 2007 by DFKI


We present the new project C-Manipulator (funded by the German Ministry of Economics (BMWI), Grant No. 03SX231). The goal of C-Manipulator is the development of an autonomous, modular, dual manipulator system for underwater applications. This paper provides an overview over the project. It explains shortly the relevance of autonomous underwater manipulation. Then it describes briefly the state-of-the-art, explains the new vision-based control approach featuring visual servoing techniques and the planned manipulator system design featuring the Sub-C Network. Furthermore, a new developed indoor test-bed using a gantry crane for UUV-simulation is introduced, which will be used to test the manipulator system under realistic conditions and to prepare the system for a final test in the Baltic sea, which is planned for 2009.

Copyright © 2007 by DFKI



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