TY - GEN
T1 - Saving Energy with Buoyancy and Balance Control for Underwater Robots with Dynamic Payloads
AU - Detweiler, Carrick
AU - Sosnowski, Stefan
AU - Vasilescu, Iuliu
AU - Rus, Daniela
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-642-00196-3_49
DO - 10.1007/978-3-642-00196-3_49
M3 - Conference contribution
AN - SCOPUS:84882983865
SN - 9783642001956
T3 - Springer Tracts in Advanced Robotics
SP - 429
EP - 438
BT - Experimental Robotics - The Eleventh International Symposium
T2 - 11th International Symposium on Experimental Robotics, ISER 2008
Y2 - 13 July 2008 through 16 July 2008
ER -