The team at TUM - ITR has developed a prototype of the gripper device for SeaClear. This version is decidedly simple for robust operation under harsh conditions and will provide a baseline for comparing its efficiency to upgrades with suction capabilities and other advanced features. In this video a KUKA iiwa robot is used to simulate the motion of the underwater vehicle the skid and gripper will be attached to. The versatility and robustness of the gripper design is shown by collecting various objects of different shapes and material, from stiff but deformed cans to flexible nets or piles of objects.
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 871295.
The SEACLEAR project spans four years, running from January 1st, 2020 to December 31st, 2023.