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- Publisher Website: 10.1109/IROS.1997.649038
- Scopus: eid_2-s2.0-0031358282
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Conference Paper: Force control of robot floating on the water utilizing vehicle restoring force
| Title | Force control of robot floating on the water utilizing vehicle restoring force |
|---|---|
| Authors | |
| Issue Date | 1997 |
| Citation | IEEE International Conference on Intelligent Robots and Systems, 1997, v. 1, p. 162-167 How to Cite? |
| 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. |
| Persistent Identifier | http://hdl.handle.net/10722/302679 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kajita, H. | - |
| dc.contributor.author | Kosuge, K. | - |
| dc.date.accessioned | 2021-09-07T08:42:23Z | - |
| dc.date.available | 2021-09-07T08:42:23Z | - |
| dc.date.issued | 1997 | - |
| dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 1997, v. 1, p. 162-167 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302679 | - |
| dc.description.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. | - |
| dc.language | eng | - |
| dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
| dc.title | Force control of robot floating on the water utilizing vehicle restoring force | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/IROS.1997.649038 | - |
| dc.identifier.scopus | eid_2-s2.0-0031358282 | - |
| dc.identifier.volume | 1 | - |
| dc.identifier.spage | 162 | - |
| dc.identifier.epage | 167 | - |