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

^*Autor correspondiente de este trabajo

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

6 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots
Editores	Stéphane Caro, Andreas Pott, Tobias Bruckmann
Editorial	Springer Science and Business Media B.V.
Páginas	430-441
Número de páginas	12
ISBN (versión impresa)	9783031323218
DOI	https://doi.org/10.1007/978-3-031-32322-5_35
Estado	Publicada - 2023
Evento	6th International Conference on Cable-Driven Parallel Robots, CableCon 2023 - Nantes, Francia Duración: 25 jun 2023 → 28 jun 2023

Serie de la publicación

Nombre	Mechanisms and Machine Science
Volumen	132
ISSN (versión impresa)	2211-0984
ISSN (versión digital)	2211-0992

Conferencia

Conferencia	6th International Conference on Cable-Driven Parallel Robots, CableCon 2023
País/Territorio	Francia
Ciudad	Nantes
Período	25/06/23 → 28/06/23

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

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

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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. En 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).

@inproceedings{487e7b0e154a4821b7a0db73fceea2c5,

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",

year = "2023",

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

language = "English",

isbn = "9783031323218",

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

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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. En 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, Francia, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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T1 - The Robotic Seabed Cleaning Platform

T2 - 6th International Conference on Cable-Driven Parallel Robots, CableCon 2023

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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N2 - 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.

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.

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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

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

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PB - Springer Science and Business Media B.V.

Y2 - 25 June 2023 through 28 June 2023

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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. En Caro S, Pott A, Bruckmann T, editores, 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