Force control of robot floating on the water utilizing vehicle restoring force

H. Kajita, K. Kosuge

Research output: Contribution to conferencePaper

15 Citations (Scopus)

Abstract

This paper presents a force control strategy for a robot floating on the water. 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 outputs and 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 experiment by means of this simulator illustrate the validity of the proposed algorithm.

Original languageEnglish
Pages162-167
Number of pages6
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3) - Grenoble, Fr
Duration: 1997 Sep 71997 Sep 11

Other

OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3)
CityGrenoble, Fr
Period97/9/797/9/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Kajita, H., & Kosuge, K. (1997). Force control of robot floating on the water utilizing vehicle restoring force. 162-167. Paper presented at Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3), Grenoble, Fr, .