Abstract
Using robots to explore venues that are beyond human reach has been a longstanding aspiration of scientists and expeditionists alike. The deep sea exemplifies such an unchartered environment that is currently inaccessible to humans. Ocean One (O\({_2}\)) is an anthropomorphic underwater robot, designed to operate in deep aquatic conditions and equipped with an array of sensor modalities. Central to the O\({_2}\) concept is a human interface that connects the robot and human operator through haptics and vision. In this paper, we focus on O\({_2}\)’s control architecture and show how it enables an avatar-like synergy between the robot and human pilot. We establish functional autonomy by resolving kinematic and actuation redundancy, allowing the pilot to control O\({_2}\) in a lower-dimensional space. We illustrate O\({_2}\)’s hierarchical whole-body control tasks including manipulation and posture tasks, feed-forward compensation as well as constraint handling. We also describe how to coordinate the dynamics of body and arms to achieve superior performance in contact and demonstrate O\({_2}\)’s capabilities in simulation, experiments in the pool as well as deployment to its archeological maiden mission to the ‘Lune’, a French naval vessel that sunk to 91 m depth in 1664 in the mediterranean sea.
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Brantner, G., Khatib, O. (2018). Controlling Ocean One. In: Hutter, M., Siegwart, R. (eds) Field and Service Robotics. Springer Proceedings in Advanced Robotics, vol 5. Springer, Cham. https://doi.org/10.1007/978-3-319-67361-5_1
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DOI: https://doi.org/10.1007/978-3-319-67361-5_1
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