{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T00:56:46Z","timestamp":1760230606370,"version":"build-2065373602"},"reference-count":29,"publisher":"MDPI AG","issue":"15","license":[{"start":{"date-parts":[[2022,8,4]],"date-time":"2022-08-04T00:00:00Z","timestamp":1659571200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000266","name":"UK Engineering and Physical Sciences Research Council (EPSRC)","doi-asserted-by":"publisher","award":["EP\/R026173\/1"],"award-info":[{"award-number":["EP\/R026173\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This study presents an experimental robotic setup with a Stewart platform and a robot manipulator to emulate an underwater vehicle\u2013manipulator system (UVMS). This hardware-based emulator setup consists of a KUKA IIWA14 robotic manipulator mounted on a parallel manipulator, known as Stewart Platform, and a force\/torque sensor attached to the end-effector of the robotic arm interacting with a pipe. In this setup, we use realistic underwater vehicle movements either communicated to a system in real-time through 4G routers or recorded in advance in a water tank environment. In addition, we simulate both the water current impact on vehicle movement and dynamic coupling effects between the vehicle and manipulator in a Gazebo-based software simulator and transfer these to the physical robotic experimental setup. Such a complete setup is useful to study the control techniques to be applied on the underwater robotic systems in a dry lab environment and allows us to carry out fast and numerous experiments, circumventing the difficulties with performing similar experiments and data collection with actual underwater vehicles in water tanks. Exemplary controller development studies are carried out for contact management of the UVMS using the experimental setup.<\/jats:p>","DOI":"10.3390\/s22155827","type":"journal-article","created":{"date-parts":[[2022,8,5]],"date-time":"2022-08-05T02:12:39Z","timestamp":1659665559000},"page":"5827","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["A Robotic Experimental Setup with a Stewart Platform to Emulate Underwater Vehicle-Manipulator Systems"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1029-5626","authenticated-orcid":false,"given":"Kamil","family":"Cetin","sequence":"first","affiliation":[{"name":"Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AL, UK"},{"name":"Edinburgh Centre for Robotics, Edinburgh EH14 4AL, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9103-6380","authenticated-orcid":false,"given":"Harun","family":"Tugal","sequence":"additional","affiliation":[{"name":"Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AL, UK"},{"name":"Edinburgh Centre for Robotics, Edinburgh EH14 4AL, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1596-289X","authenticated-orcid":false,"given":"Yvan","family":"Petillot","sequence":"additional","affiliation":[{"name":"Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AL, UK"},{"name":"Edinburgh Centre for Robotics, Edinburgh EH14 4AL, UK"}]},{"given":"Matthew","family":"Dunnigan","sequence":"additional","affiliation":[{"name":"Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AL, UK"},{"name":"Edinburgh Centre for Robotics, Edinburgh EH14 4AL, UK"}]},{"given":"Leonard","family":"Newbrook","sequence":"additional","affiliation":[{"name":"Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AL, UK"},{"name":"Edinburgh Centre for Robotics, Edinburgh EH14 4AL, UK"}]},{"given":"Mustafa Suphi","family":"Erden","sequence":"additional","affiliation":[{"name":"Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AL, UK"},{"name":"Edinburgh Centre for Robotics, Edinburgh EH14 4AL, UK"}]}],"member":"1968","published-online":{"date-parts":[[2022,8,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Dhanak, M.R., and Xiros, N.I. (2016). Introduction. Handbook of Ocean Engineering, Springer International Publishing.","DOI":"10.1007\/978-3-319-16649-0"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Kim, T.W., Marani, G., and Yuh, J. (2016). Underwater Vehicle Manipulators. Handbook of Ocean Engineering, Springer International Publishing.","DOI":"10.1007\/978-3-319-16649-0_17"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"431","DOI":"10.1016\/j.oceaneng.2018.06.018","article-title":"Underwater manipulators: A review","volume":"163","author":"Coleman","year":"2018","journal-title":"Ocean Eng."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"3058","DOI":"10.1109\/LRA.2018.2849591","article-title":"Automation of train cab front cleaning with a robot manipulator","volume":"3","author":"Moura","year":"2018","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Cetin, K., Zapico, C.S., Tugal, H., Petillot, Y., Dunnigan, M., and Erden, M.S. (2021). Application of Adaptive and Switching Control for Contact Maintenance of a Robotic Vehicle-Manipulator System for Underwater Asset Inspection. Front. Robot. AI, 8.","DOI":"10.3389\/frobt.2021.706558"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Ismail, Z.H., and Dunnigan, M.W. (2009, January 19\u201323). Redundancy resolution for underwater vehicle\u2013manipulator systems with congruent gravity and buoyancy loading optimization. Proceedings of the IEEE International Conference on Robotics and Biomimetics, Guilin, China.","DOI":"10.1109\/ROBIO.2009.5420838"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1469","DOI":"10.1109\/TRO.2013.2277535","article-title":"A passivity-based model-free force-motion control of underwater vehicle\u2013manipulator systems","volume":"29","author":"Arechavaleta","year":"2013","journal-title":"IEEE Trans. Robot."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"315","DOI":"10.1016\/j.arcontrol.2018.10.003","article-title":"A robust interaction control approach for underwater vehicle manipulator systems","volume":"46","author":"Bechlioulis","year":"2018","journal-title":"Annu. Rev. Control"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Barbalata, C., Dunnigan, M., and Petillot, Y. (2018). Coupled and Decoupled Force\/Motion Controllers for an Underwater Vehicle-Manipulator System. J. Mar. Sci. Eng., 6.","DOI":"10.3390\/jmse6030096"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1235","DOI":"10.1109\/JOE.2019.2935801","article-title":"Development of a Hybrid Simulator for Underwater Vehicles With Manipulators","volume":"45","author":"Razzanelli","year":"2019","journal-title":"IEEE J. Ocean. Eng."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Cieslak, P., and Ridao, P. (2018, January 1\u20135). Adaptive Admittance Control in Task-Priority Framework for Contact Force Control in Autonomous Underwater Floating Manipulation. Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Madrid, Spain.","DOI":"10.1109\/IROS.2018.8593542"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Mersha, A.Y., Stramigioli, S., and Carloni, R. (2014, January 14\u201318). Variable impedance control for aerial interaction. Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Chicago, IL, USA.","DOI":"10.1109\/IROS.2014.6943041"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"631","DOI":"10.1007\/s10514-015-9485-5","article-title":"Aerial robotic contact-based inspection: Planning and control","volume":"40","author":"Alexis","year":"2016","journal-title":"Auton. Robot."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"1045","DOI":"10.1177\/0278364919856694","article-title":"6D interaction control with aerial robots: The flying end-effector paradigm","volume":"38","author":"Ryll","year":"2019","journal-title":"Int. J. Robot. Res."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1016\/j.robot.2018.01.009","article-title":"Adaptive variable impedance control for dynamic contact force tracking in uncertain environment","volume":"102","author":"Duan","year":"2018","journal-title":"Robot. Auton. Syst."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"83162","DOI":"10.1109\/ACCESS.2019.2924696","article-title":"Dynamic Adaptive Hybrid Impedance Control for Dynamic Contact Force Tracking in Uncertain Environments","volume":"7","author":"Cao","year":"2019","journal-title":"IEEE Access"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"231","DOI":"10.1108\/IR-09-2019-0191","article-title":"Smooth adaptive hybrid impedance control for robotic contact force tracking in dynamic environments","volume":"47","author":"Cao","year":"2020","journal-title":"Ind. Robot"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"31","DOI":"10.3182\/20080408-3-IE-4914.00007","article-title":"A Review of Virtual Simulators for Autonomous Underwater Vehicles (AUVs)","volume":"41","author":"Matsebe","year":"2008","journal-title":"Ifac Proc. Vol."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Cook, D., Vardy, A., and Lewis, R. (2014, January 6\u20139). A survey of AUV and robot simulators for multi-vehicle operations. Proceedings of the IEEE\/OES Autonomous Underwater Vehicles, Oxford, MS, USA.","DOI":"10.1109\/AUV.2014.7054411"},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Prats, M., Perez, J., Fernandez, J.J., and Sanz, P.J. (2012, January 7\u201312). An open source tool for simulation and supervision of underwater intervention missions. Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Vilamoura-Algarve, Portugal.","DOI":"10.1109\/IROS.2012.6385788"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1007\/978-3-319-11900-7_3","article-title":"A dynamic simulator for underwater vehicle\u2013manipulators","volume":"8810","author":"Kermorgant","year":"2014","journal-title":"Lect. Notes Comput. Sci."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Manh\u00e3es, M.M.M., Scherer, S.A., Voss, M., Douat, L.R., and Rauschenbach, T. (2016, January 19\u201323). UUV Simulator: A Gazebo-based package for underwater intervention and multi-robot simulation. Proceedings of the OCEANS 2016 MTS\/IEEE Monterey, Monterey, CA, USA.","DOI":"10.1109\/OCEANS.2016.7761080"},{"key":"ref_23","unstructured":"(2021, June 02). Github: UUVSimulator with RexROV2 in Gazebo. Available online: https:\/\/github.com\/uuvsimulator\/rexrov2."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Fossen, T.I. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control, Willey.","DOI":"10.1002\/9781119994138"},{"key":"ref_25","unstructured":"Berg, V. (2012). Development and Commissioning of a DP system for ROV SF 30k. [Master\u2019s Thesis, Norwegian University of Science and Technology]."},{"key":"ref_26","unstructured":"Blyth, W.A. (2017). Robotic Pipe Inspection: System Design, Locomotion and Control. [Ph.D. Thesis, Imperial College London]."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"606","DOI":"10.1177\/1475921719837718","article-title":"Inspection and monitoring systems subsea pipelines: A review paper","volume":"19","author":"Ho","year":"2019","journal-title":"Struct. Health Monit."},{"key":"ref_28","unstructured":"(2021, June 02). Github: ROS Kinetic Metapackage for the KUKA LBR IIWA R820. Available online: https:\/\/github.com\/IFL-CAMP\/iiwa_stack."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/JRA.1987.1087068","article-title":"A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation","volume":"3","author":"Khatib","year":"1987","journal-title":"IEEE J. Robot. Autom."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/15\/5827\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T00:04:07Z","timestamp":1760141047000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/15\/5827"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,8,4]]},"references-count":29,"journal-issue":{"issue":"15","published-online":{"date-parts":[[2022,8]]}},"alternative-id":["s22155827"],"URL":"https:\/\/doi.org\/10.3390\/s22155827","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2022,8,4]]}}}