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Marine Sediment Sampling With an Underwater Legged Robot

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posted on 2025-01-06, 17:13 authored by Annalisa Astolfi, Mrudul Chellapurath, Giacomo Picardi, Martina Capriotti, Kayla Mladinich, Cecilia Laschi, Sergio Stefanni, Marcello Calisti

In this work we present a novel system for marine sediment sampling aimed at microplastic (MP) assessment studies. The system is composed of a medium-sized underwater legged robot (ULR) equipped with a customized sampler consisting of a grab mounted on an underactuated mechanism.

Funding

10.13039/100006363-National Geographic Society (Grant Number: NGS 6544)

History

School affiliated with

  • Lincoln Institute for Agri-Food Technology (Research Outputs)

Publication Title

IEEE Robotics & Automation Magazine

Volume

31

Issue

1

Pages/Article Number

62 - 71

Publisher

IEEE

External DOI

ISSN

1070-9932

eISSN

1558-223X

Date Accepted

2024-01-01

Date of First Publication

2024-01-10

Date of Final Publication

2024-03-01

Open Access Status

  • Not Open Access

Date Document First Uploaded

2024-06-04

Publisher statement

© 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

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    University of Lincoln (Research Outputs)

    Categories

    Keywords

    Underwater robotics, Sediment sampling, Unmanned system

    Licence

    Publisher Bespoke Licence

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