Fig. 9: Underwater grasping in a confined space.
From: Underwater soft arm grasping with simplified control using octopus-inspired bending propagation
A Experimental setup of the confined space, where the robot’s end-effector attach to an acrylic plate. Obstacles are placed on both sides of the robot, with a gap of 290 mm, and a floating cylindrical object is placed 1.2 m away from the robot’s base as the target. B–D The robot approaches the target object via bending propagation. E The robot attached to the target object. F The robot grasps the target object. G The robot’s base detaches. H The robot and the target object are pulled out of the confined space. I Feedback signals during the grasping process, with arrows and dashed lines representing the times of robot attachment and detachment, as well as the times when the object is attached to and grasped. More details about the grasping tests in confined space are available in Supplementary Movie S4.
