A Service Robot for Subsea Flexible Risers

Psarros, D; Papadimitriou, V; Chatzakos, P; Spais, V; Hrissagis, K

dc.contributor.author	Psarros, D	en
dc.contributor.author	Papadimitriou, V	en
dc.contributor.author	Chatzakos, P	en
dc.contributor.author	Spais, V	en
dc.contributor.author	Hrissagis, K	en
dc.date.accessioned	2014-03-01T01:59:01Z
dc.date.available	2014-03-01T01:59:01Z
dc.date.issued	2010	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/28830
dc.subject	Remotely Operated Vehicle	en
dc.subject	Robot Manipulator	en
dc.subject	Service Robot	en
dc.title	A Service Robot for Subsea Flexible Risers	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/MRA.2010.935806	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MRA.2010.935806	en
heal.publicationDate	2010	en
heal.abstract	This article presents the development of a remotely operated vehicle (ROV) for the underwater inspection of subsea flexible riser, proposing effective solutions for the associated robotic manipulation system. Novel, underactuated end-effectors have been conceived and developed to firmly hold the robot on the riser during locomotion or operation, without affecting riser's integrity. By using these end-effectors, the robot is able	en
heal.journalName	IEEE Robotics & Automation Magazine	en
dc.identifier.doi	10.1109/MRA.2010.935806	en