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  • Poster for UKRAS22

    Submitted manuscript, 2.77 MB, image/jpeg

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Collaborative dual-arm continuum robot for operating in underwater environments

Research output: Contribution to conference - Without ISBN/ISSN Posterpeer-review

Publication date26/08/2022
<mark>Original language</mark>English
EventUKRAS22: The 5th UK Robotics and Autonomous Systems Conference - Aberystwyth University, Aberystwyth, United Kingdom
Duration: 26/08/2022 → …


ConferenceUKRAS22: The 5th UK Robotics and Autonomous Systems Conference
Abbreviated titleUK-RAS22
Country/TerritoryUnited Kingdom
Period26/08/22 → …
Internet address


In many industries worldwide, decommissioning is a significant and growing engineering challenge requiring specialist tools and robots. This is particularly the case in underwater or submerged nuclear sites, such as the stricken Fukushima Daiichi reactors. However, most currently available decommissioning tools are bulky structures lacking dexterity. In this paper, a novel dual-arm robot, composed of two 6-DoF continuum arms designed to work together, is developed with the intent to collect material samples from underwater environments.