Accessible tools for ocean discovery
The ocean is an unstructured environment; robots can benefit from end-effectors and control strategies that tolerate and mitigate error during reaching and grasping tasks. EDG is examining various applications for small undersea platforms, which have great potential to improve scientific access and understanding inexpensively.
Tactile sensing and haptics: Underwater, changes in contact conditions and ambient pressure influence how we can effectively sense important information during manipulation. We work to design specific tactile sensors for wet and submerged environments. We also seek to create a sense of embodiment for teleoperators remotely operating small vehicles. The challenge is to map robot’s circumstances into intuitive human experience.
Design tools: Simulation is a powerful tool for hand design, especially when forces like water drag and friction impact grasping performance. Our work utilizes SimGrasp to capture the dynamics of grasping under water in order to design hands that are more reliable in uncertain submarine conditions.