Saving Energy with Buoyancy and Balance Control for Underwater Robots with Dynamic Payloads

Carrick Detweiler; Stefan Sosnowski; Iuliu Vasilescu; Daniela Rus

doi:10.1007/978-3-642-00196-3_49

Saving Energy with Buoyancy and Balance Control for Underwater Robots with Dynamic Payloads

Carrick Detweiler, Stefan Sosnowski, Iuliu Vasilescu, Daniela Rus

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Scopus citations

Abstract

We have developed an underwater robot that can pick up and place objects during an autonomous underwater mission. This robot will have changing weight and dynamics during a mission. We have developed an efficient method for buoyancy control to achieve adaptation to weight changes without the need to increasing the work of the robot's thruster system. In this paper we describe the mechanism used for buoyancy and balance control. We also describe the adaptive control algorithms and data from physical experiments.

Original language	English (US)
Title of host publication	Experimental Robotics - The Eleventh International Symposium
Pages	429-438
Number of pages	10
DOIs	https://doi.org/10.1007/978-3-642-00196-3_49
State	Published - 2009
Externally published	Yes
Event	11th International Symposium on Experimental Robotics, ISER 2008 - Athens, Greece Duration: Jul 13 2008 → Jul 16 2008

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	54
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

Conference

Conference	11th International Symposium on Experimental Robotics, ISER 2008
Country/Territory	Greece
City	Athens
Period	7/13/08 → 7/16/08

ASJC Scopus subject areas

Electrical and Electronic Engineering
Artificial Intelligence

Access to Document

10.1007/978-3-642-00196-3_49

Cite this

Saving Energy with Buoyancy and Balance Control for Underwater Robots with Dynamic Payloads. / Detweiler, Carrick; Sosnowski, Stefan; Vasilescu, Iuliu et al.
Experimental Robotics - The Eleventh International Symposium. 2009. p. 429-438 (Springer Tracts in Advanced Robotics; Vol. 54).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Detweiler, C, Sosnowski, S, Vasilescu, I & Rus, D 2009, Saving Energy with Buoyancy and Balance Control for Underwater Robots with Dynamic Payloads. in Experimental Robotics - The Eleventh International Symposium. Springer Tracts in Advanced Robotics, vol. 54, pp. 429-438, 11th International Symposium on Experimental Robotics, ISER 2008, Athens, Greece, 7/13/08. https://doi.org/10.1007/978-3-642-00196-3_49

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Saving Energy with Buoyancy and Balance Control for Underwater Robots with Dynamic Payloads

Abstract

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