Follow this link to skip to the main content
  NASA Logo
Jet Propulsion Laboratory
California Institute of Technology
+ View the NASA Portal
Search JPL
JPL Home Earth Solar System Stars and Galaxies Technology
JPL Robotics
Search Robotics
 
Home Page
Applications
Projects
Tasks
Groups
People
Systems
Facilities
Publications
Patents
Awards
News
Image Gallery
Video Gallery
Charter
Links
 
COMPLETED RESEARCH TASK
underline
Task Page Publications Image Gallery Videos
Underwater Mobile Manipulation

Description:
Task Image Right Shadow
Bottom Shadow
Click here for a larger image
The JPL Underwater Mobile Manipulation task has developed a technology suite that enables the automated execution of routine manipulation tasks on subsea infrastructure. The technology suite is made up of an underwater robotic limb and perception system. The 7 Degree of Freedom robotic limb consists of custom S-PRIME subsea actuators and a force-torque sensing claw end effector. The perception system includes an underwater stereo camera, underwater light, imaging sonar and pattern projector. Passive pattern-assisted stereo generates 3D reconstructions of the robotic limb workspace up to a 2m range. Target pose estimation software is used to estimate the pose of known subsea infrastructure interfaces within the 3D reconstruction using a cad model fitting approach. The technology suite has been tested in both lab and field environments from a static structure.

This technology is documented under JPL NTRs 50966, 50499, 50948, 50621. Parts of the technology are patent pending.

Completion Date:  09/30/2019

Point of Contact:  Matt Gildner - Jet Propulsion Laboratory

Sponsored by:  Research and Technology Development Program



Privacy/Copyright Image Policy Glossary Sitemap Feedback Contact Us
  National Aeronautics and Space Administration website.