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 proceedingConference 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 languageEnglish (US)
Title of host publicationExperimental Robotics - The Eleventh International Symposium
Pages429-438
Number of pages10
DOIs
StatePublished - 2009
Externally publishedYes
Event11th International Symposium on Experimental Robotics, ISER 2008 - Athens, Greece
Duration: Jul 13 2008Jul 16 2008

Publication series

NameSpringer Tracts in Advanced Robotics
Volume54
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Conference

Conference11th International Symposium on Experimental Robotics, ISER 2008
Country/TerritoryGreece
CityAthens
Period7/13/087/16/08

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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