The Robotic Seabed Cleaning Platform: An Underwater Cable-Driven Parallel Robot for Marine Litter Removal

Marc Gouttefarde; Mariola Rodriguez; Cyril Barrelet; Pierre Elie Hervé; Vincent Creuze; Jose Gorrotxategi; Arkaitz Oyarzabal; David Culla; Damien Sallé; Olivier Tempier; Nicola Ferrari; Marc Chaumont; Gérard Subsol

doi:10.1007/978-3-031-32322-5_35

The Robotic Seabed Cleaning Platform: An Underwater Cable-Driven Parallel Robot for Marine Litter Removal

Marc Gouttefarde^*
, Mariola Rodriguez
, Cyril Barrelet
, Pierre Elie Hervé
, Vincent Creuze
, Jose Gorrotxategi
, Arkaitz Oyarzabal
, David Culla
, Damien Sallé
, Olivier Tempier
, Nicola Ferrari
, Marc Chaumont
, Gérard Subsol

^*Corresponding author for this work

Université de Montpellier II
Basque Research and Technology Alliance (BRTA)
Servizi Tecnizi Srl

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Citations (Scopus)

Abstract

As a contribution to the development of new techniques to remove marine litter from the seabed of sees and oceans, the Robotic Seabed Cleaning Platform has been designed, built and experimented in the framework of the European Union project MAELSTROM. It essentially consists of a floating platform that supports the base elements of a 6 degree-of-freedom cable-driven parallel robot actuated by eight winches. The mobile platform of this robot can work underwater and is equipped with sensors to control its underwater motions and to detect & identify marine litter. To achieve efficient and selective litter removal, an aspiration system and a gripper are installed on the CDPR underwater mobile platform.

Original language	English
Title of host publication	Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots
Editors	Stéphane Caro, Andreas Pott, Tobias Bruckmann
Publisher	Springer Science and Business Media B.V.
Pages	430-441
Number of pages	12
ISBN (Print)	9783031323218
DOIs	https://doi.org/10.1007/978-3-031-32322-5_35
Publication status	Published - 2023
Event	6th International Conference on Cable-Driven Parallel Robots, CableCon 2023 - Nantes, France Duration: 25 Jun 2023 → 28 Jun 2023

Publication series

Name	Mechanisms and Machine Science
Volume	132
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	6th International Conference on Cable-Driven Parallel Robots, CableCon 2023
Country/Territory	France
City	Nantes
Period	25/06/23 → 28/06/23

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

Keywords

Marine litter
cable-driven parallel robots
underwater robots

Access to Document

10.1007/978-3-031-32322-5_35

Cite this

Gouttefarde, M., Rodriguez, M., Barrelet, C., Hervé, P. E., Creuze, V., Gorrotxategi, J., Oyarzabal, A., Culla, D., Sallé, D., Tempier, O., Ferrari, N., Chaumont, M., & Subsol, G. (2023). The Robotic Seabed Cleaning Platform: An Underwater Cable-Driven Parallel Robot for Marine Litter Removal. In S. Caro, A. Pott, & T. Bruckmann (Eds.), Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots (pp. 430-441). (Mechanisms and Machine Science; Vol. 132). Springer Science and Business Media B.V.. https://doi.org/10.1007/978-3-031-32322-5_35

Gouttefarde, Marc ; Rodriguez, Mariola ; Barrelet, Cyril et al. / The Robotic Seabed Cleaning Platform : An Underwater Cable-Driven Parallel Robot for Marine Litter Removal. Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots. editor / Stéphane Caro ; Andreas Pott ; Tobias Bruckmann. Springer Science and Business Media B.V., 2023. pp. 430-441 (Mechanisms and Machine Science).

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title = "The Robotic Seabed Cleaning Platform: An Underwater Cable-Driven Parallel Robot for Marine Litter Removal",

abstract = "As a contribution to the development of new techniques to remove marine litter from the seabed of sees and oceans, the Robotic Seabed Cleaning Platform has been designed, built and experimented in the framework of the European Union project MAELSTROM. It essentially consists of a floating platform that supports the base elements of a 6 degree-of-freedom cable-driven parallel robot actuated by eight winches. The mobile platform of this robot can work underwater and is equipped with sensors to control its underwater motions and to detect \& identify marine litter. To achieve efficient and selective litter removal, an aspiration system and a gripper are installed on the CDPR underwater mobile platform.",

keywords = "Marine litter, cable-driven parallel robots, underwater robots",

author = "Marc Gouttefarde and Mariola Rodriguez and Cyril Barrelet and Herv{\'e}, \{Pierre Elie\} and Vincent Creuze and Jose Gorrotxategi and Arkaitz Oyarzabal and David Culla and Damien Sall{\'e} and Olivier Tempier and Nicola Ferrari and Marc Chaumont and G{\'e}rard Subsol",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 6th International Conference on Cable-Driven Parallel Robots, CableCon 2023 ; Conference date: 25-06-2023 Through 28-06-2023",

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doi = "10.1007/978-3-031-32322-5\_35",

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isbn = "9783031323218",

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publisher = "Springer Science and Business Media B.V.",

pages = "430--441",

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Gouttefarde, M, Rodriguez, M, Barrelet, C, Hervé, PE, Creuze, V, Gorrotxategi, J, Oyarzabal, A, Culla, D , Sallé, D, Tempier, O, Ferrari, N, Chaumont, M & Subsol, G 2023, The Robotic Seabed Cleaning Platform: An Underwater Cable-Driven Parallel Robot for Marine Litter Removal. in S Caro, A Pott & T Bruckmann (eds), Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol. 132, Springer Science and Business Media B.V., pp. 430-441, 6th International Conference on Cable-Driven Parallel Robots, CableCon 2023, Nantes, France, 25/06/23. https://doi.org/10.1007/978-3-031-32322-5_35

The Robotic Seabed Cleaning Platform: An Underwater Cable-Driven Parallel Robot for Marine Litter Removal. / Gouttefarde, Marc; Rodriguez, Mariola; Barrelet, Cyril et al.
Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots. ed. / Stéphane Caro; Andreas Pott; Tobias Bruckmann. Springer Science and Business Media B.V., 2023. p. 430-441 (Mechanisms and Machine Science; Vol. 132).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - The Robotic Seabed Cleaning Platform

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AU - Gouttefarde, Marc

AU - Rodriguez, Mariola

AU - Barrelet, Cyril

AU - Hervé, Pierre Elie

AU - Creuze, Vincent

AU - Gorrotxategi, Jose

AU - Oyarzabal, Arkaitz

AU - Culla, David

AU - Sallé, Damien

AU - Tempier, Olivier

AU - Ferrari, Nicola

AU - Chaumont, Marc

AU - Subsol, Gérard

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AB - As a contribution to the development of new techniques to remove marine litter from the seabed of sees and oceans, the Robotic Seabed Cleaning Platform has been designed, built and experimented in the framework of the European Union project MAELSTROM. It essentially consists of a floating platform that supports the base elements of a 6 degree-of-freedom cable-driven parallel robot actuated by eight winches. The mobile platform of this robot can work underwater and is equipped with sensors to control its underwater motions and to detect & identify marine litter. To achieve efficient and selective litter removal, an aspiration system and a gripper are installed on the CDPR underwater mobile platform.

KW - Marine litter

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KW - underwater robots

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DO - 10.1007/978-3-031-32322-5_35

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AN - SCOPUS:85163994978

SN - 9783031323218

T3 - Mechanisms and Machine Science

SP - 430

EP - 441

BT - Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots

A2 - Caro, Stéphane

A2 - Pott, Andreas

A2 - Bruckmann, Tobias

PB - Springer Science and Business Media B.V.

Y2 - 25 June 2023 through 28 June 2023

ER -

Gouttefarde M, Rodriguez M, Barrelet C, Hervé PE, Creuze V, Gorrotxategi J et al. The Robotic Seabed Cleaning Platform: An Underwater Cable-Driven Parallel Robot for Marine Litter Removal. In Caro S, Pott A, Bruckmann T, editors, Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots. Springer Science and Business Media B.V. 2023. p. 430-441. (Mechanisms and Machine Science). doi: 10.1007/978-3-031-32322-5_35