AMADEUS: dual-arm workcell for co-ordinated and dexterous manipulation

The AMADEUS research project aims at the improvement of the dexterity and sensory abilities of underwater manipulation systems, in support of marine geology and benthic science. Of particular interest in phase II of the project is the study of the co-ordinated control of two underwater 7 degrees of freedom electromechanical arms. This testbed, which can be used for grasping and manipulation of large and heavy objects, is suitably sensorized with underwater force/torque and tactile sensors. The system is operated by a human operator through a tele-assisted control architecture.