Underwater Manipulation

Underwater structures, such as offshore platforms, pipelines, or quay walls, require frequent inspection and maintenance. Despite the risks, human divers are still widely used for such operations. Large-scale working-class Remotely Operated Vehicles (ROVs) offer a safer alternative, especially in hazardous conditions. However, they come with significant operational challenges. ROVs require skilled operators and high-cost infrastructure, i.e. vessels.

Therefore, autonomous underwater manipulation constitutes an important milestone within the field of underwater robotics.

Small-scale Systems

While Underwater Vehicles-Manipulation Systems (UVMS) have been a subject of extended research interest for decades, so far, the strong majority of research has focused on large-scale heavy robots with small manipulators. Recent progress in miniaturization allowed for a new class of small-scale, lightweight underwater robotic systems. Especially low-cost, widely available commercial platforms, such as the BlueROV2 and the Reach Alpha 5 manipulator lower the entry barrier for the research field of underwater manipulation.

Dynamic and accurate end effector trajectory tracking is a crucial first step in developing autonomous capabilities.