Next Article in Journal
URSIM: Unique Regions for Sketch Map Interpretation and Matching
Next Article in Special Issue
MallARD: An Autonomous Aquatic Surface Vehicle for Inspection and Monitoring of Wet Nuclear Storage Facilities
Previous Article in Journal
Upside-Down Robots: Modeling and Experimental Validation of Magnetic-Adhesion Mobile Systems
Previous Article in Special Issue
The Auto-Complete Graph: Merging and Mutual Correction of Sensor and Prior Maps for SLAM
Article Menu
Issue 2 (June) cover image

Export Article

Open AccessArticle

Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments

Engineering Department, Lancaster University, Gillow Avenue, Lancaster LA1 4YW, UK
Author to whom correspondence should be addressed.
Robotics 2019, 8(2), 42;
Received: 31 March 2019 / Revised: 24 May 2019 / Accepted: 29 May 2019 / Published: 4 June 2019
(This article belongs to the Special Issue Robotics in Extreme Environments)
PDF [2687 KB, uploaded 4 June 2019]


This article investigates visual servoing for a hydraulically actuated dual-arm robot, in which the user selects the object of interest from an on-screen image, whilst the computer control system implements via feedback control the required position and orientation of the manipulators. To improve on the current joystick direct tele-operation commonly used as standard in the nuclear industry, which is slow and requires extensive operator training, the proposed assisted tele-operation makes use of a single camera mounted on the robot. Focusing on pipe cutting as an example, the new system ensures that one manipulator automatically grasps the user-selected pipe, and appropriately positions the second for a cutting operation. Initial laboratory testing (using a plastic pipe) shows the efficacy of the approach for positioning the manipulators, and suggests that for both experienced and inexperienced users, the task is completed significantly faster than via tele-operation. View Full-Text
Keywords: hydraulic manipulators; assisted tele-operation; nuclear decommissioning hydraulic manipulators; assisted tele-operation; nuclear decommissioning

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

Share & Cite This Article

MDPI and ACS Style

Bandala, M.; West, C.; Monk, S.; Montazeri, A.; Taylor, C.J. Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments. Robotics 2019, 8, 42.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Robotics EISSN 2218-6581 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top