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WAVE is a novel physical testbed developed for underwater manipulation studies.

Read about: the Testbed Overview, Hardware, and Software.

See the bill of materials and 3D models to build your own.

Key capabilities:

  • Replicated ROV motion: surge-sway-heave-yaw within an approximately 2m x 2m x 1m square workspace
  • Ground truth localization: feedback from joint encoders at each axis can be used to accurately reconstruct the forward kinematics of the testbed and provide accurate state estimation
  • Two operating modes: rigid and passively compliant. In the passive-mode, the ROV body can pitch similar to how an underactuated vehicle without pitch control would rotate during manipulatormotion due to dynamic coupling.
  • Modularity: the testbed can be disassembled and re-assembled within two hours