Force control of a water-surface robot utilizing vehicle restoring force

Hisashi Kajita, Kazuhiro Kosuge

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This paper presents a force control strategy for a water-surface robot. The control strategy reduces the number of vehicle actuators required for the force control by utilizing the restoring force/moment applied to the vehicle. In this research, the relationship between thruster outputsand the contact force/moment at the endpoint is derived taking the restoring force into account, and the range of the realizable contact force is calculated using this relationship. Moreover, a simulator of the vehicle motion is developed and the results of experiments using this simulatorillustrate the validity of the proposed algorithm.

Original languageEnglish
Pages (from-to)651-662
Number of pages12
JournalAdvanced Robotics
Issue number6
Publication statusPublished - 1997 Jan 1
Externally publishedYes


  • Force control
  • Mobile manipulator
  • Simulator
  • Vessel
  • Water-surface robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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