An underwater hexapod robot, driven by six C-shaped legs and eight thrusters, has the potential to traverse diverse terrains with unknown deformable properties, which can lead to unknown leg–terrain interaction forces. However, it is hard to use exteroceptive sensors such as cameras and sonars to recognize these properties. Here we propose a method to perceive the interaction … [Read more...] about Terrain-Adaptive Locomotion Control for an Underwater Hexapod Robot: Sensing Leg–Terrain Interaction With Proprioceptive Sensors
Robot sensing systems
Multirobot Multimodal Deep Sea Surveys: Use in Detailed Estimation of Manganese Crust Distribution
This article describes a multiyear survey of cobalt-rich manganese crust (Mn-crust) deposits using multiple underwater robots. Using two autonomous underwater vehicles and one remotely operated vehicle, mounted with camera systems, multibeam sonar, and subbottom sensors, large areas were surveyed by incorporating the advantages of each robot to create a comprehensive database … [Read more...] about Multirobot Multimodal Deep Sea Surveys: Use in Detailed Estimation of Manganese Crust Distribution
Recent Developments of Subsurface Small-Leak Detection Techniques in Water Distribution Networks: A Review
The urban population grappling with water scarcity is projected to reach two billion people by 2050. Therefore, mitigating leaks in the water distribution networks (WDNs) becomes crucial for better future water security. This review article summarizes the present detection capabilities concerning small leaks (less than 1 L/s). The scope of the review encompasses experiments and … [Read more...] about Recent Developments of Subsurface Small-Leak Detection Techniques in Water Distribution Networks: A Review
RoboTwin: A Platform to Study Hydrodynamic Interactions in Schooling Fish
By living and moving in groups, fish can gain many benefits, such as heightened predator detection, greater hunting efficiency, more accurate environmental sensing, and energy saving. Although the benefits of hydrodynamic interactions in schooling fish have drawn growing interest in fields such as biology, physics, and engineering, and multiple hypotheses for how such benefits … [Read more...] about RoboTwin: A Platform to Study Hydrodynamic Interactions in Schooling Fish
Touching the Sound: Audible Features Enable Haptics for Robot Control
Haptic control interfaces can significantly improve the quality of teleoperation in robotic and mechatronic systems. However, the required force feedback introduces new challenges when highly constrained environments and systems hinder the use of conventional force sensors. In this article, we propose a haptic control method that provides feedback to the operator when force … [Read more...] about Touching the Sound: Audible Features Enable Haptics for Robot Control