RobCutt: A framework of underwater biomimetic vehicle-manipulator system for autonomous interventions

This paper presents a general concept framework of the underwater biomimetic vehicle-manipulator system (UBVMS) for autonomous interventions in terms of objectives, as well as technologies and methodologies. With full consideration of the autonomous cruise and intervention, the RobCutt system's configuration and methodology are designed to promote the levels of autonomy of the autonomous underwater vehicle manipulator system (UVMS). The second generation UBVMS (RobCutt II) is introduced, including the design and principle of the biomimetic propulsor inspired by the cuttlefish and lightweight manipulator, and the advantages are concluded. Moreover, technologies and methodologies of underwater localization, object detection and coordination control are designed and accomplished respectively. Finally, pool tests have been carried out to verify the feasibility and effectiveness of the developed framework and methodology.