Advanced manipulation for deep underwater sampling: the AMADEUS research project

摘要

This paper describes the design, development and future activities for the ongoing EU MAST II and III programmes AMADEUS I and II. The AMADEUS is a project focusing on improving the dexterity and sensory abilities of underwater systems for grasping and manipulation of delicate and other objects. Phase I of the project was completed in May 1996, and has developed a prototype dextrous three fingered underwater dextrous gripper. Phase II is now underway to deploy the hand from an underwater robot arm and carry out wet trials with end users. This paper summarizes the major achievements obtained within the programme.