An Intervention-AUV learns how to perform an underwater valve turning
File(s)
Accepted version
Author(s)
Carrera, Arnau
Palomeras, Narcis
Ribas, David
Kormushev, Petar
Carreras, Marc
Type
Conference Paper
Abstract
Intervention autonomous underwater vehicles (I-AUVs) are a promising platform to perform intervention task in underwater environments, replacing current methods like remotely operate underwater vehicles (ROVs) and manned sub-mersibles that are more expensive. This article proposes a complete system including all the necessary elements to perform a valve turning task using an I-AUV. The knowledge of an operator to perform the task is transmitted to an I-AUV by a learning by demonstration (LbD) algorithm. The algorithm learns the trajectory of the vehicle and the end-effector to accomplish the valve turning. The method has shown its feasibility in a controlled environment repeating the learned task with different valves and configurations.
Date Issued
2014-04
Date Acceptance
2014-04-07
Citation
Proc. MTS/IEEE OCEANS 2014 - Taipei, 2014
Publisher
IEEE
Start Page
1
End Page
7
Journal / Book Title
Proc. MTS/IEEE OCEANS 2014 - Taipei
Identifier
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6964483
Source
OCEANS 2014
Start Date
2014-04-07
Finish Date
2014-04-10
Coverage Spatial
Tapei