DexROV: enabling effective dexterous ROV operations in presence of communication latency
Gancet, J.; Urbina, D.; Letier, P.; Ilzkovitz, M.; Weiss, P.; Gauch, F.; Chemisky, B.; Antonelli, G.; Casalino, G.; Indiveri, G.; Birk, A.; Pfingsthorn, M.F.; Calinon, S.; Turetta, A.; Walen, C.; Guilpain, L. (2015). DexROV: enabling effective dexterous ROV operations in presence of communication latency, in: OCEANS 2015 - Genova. pp. [no pag.]. https://dx.doi.org/10.1109/OCEANS-Genova.2015.7271691 In: (2015). OCEANS 2015 - Genova. IEEE: Genova. ISBN 978-1-4799-8737-5. , more |
| Available in | Authors | | Document type: Conference paper
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| Keyword | | | Author keywords | ROV; long range teleoperation; communication latencies; force feedback;real time simulation; machine learning; 3D perception; 3D modelling;autonomy; dexterous manipulation |
| Authors | | Top | - Gancet, J.
- Urbina, D.
- Letier, P.
- Ilzkovitz, M.
- Weiss, P.
- Gauch, F.
| - Chemisky, B.
- Antonelli, G.
- Casalino, G.
- Indiveri, G.
- Birk, A.
| - Pfingsthorn, M.F.
- Calinon, S.
- Turetta, A.
- Walen, C.
- Guilpain, L.
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| Abstract | Subsea interventions in the oil & gas industry as well as in other domains such as archaeology or geological surveys are demanding and costly activities for which robotic solutions are often deployed in addition or in substitution to human divers - contributing to risks and costs cutting. The operation of ROVs (Remotely Operated Vehicles) nevertheless requires significant off-shore dedicated manpower to handle and operate the robotic platform and the supporting vessel. In order to reduce the footprint of operations, DexROV proposes to implement and evaluate novel operation paradigms with safer, more cost effective and time efficient ROV operations. As a keystone of the proposed approach, manned support will in a large extent be delocalized within an onshore ROV control center, possibly at a large distance from the actual operations, relying on satellite communications. The proposed scheme also makes provision for advanced dexterous manipulation and semi-autonomous capabilities, leveraging human expertise when deemed useful. The outcomes of the project will be integrated and evaluated in a series of tests and evaluation campaigns, culminating with a realistic deep sea (1,300 meters) trial in the Mediterranean sea. |
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