Bonhak Koo

Manipulator-Effort-Aware MPC for Body Motion Coordination of an Underwater Walking Robot under Ocean Current Disturbances

This paper proposes a manipulator-effort-aware model predictive control (MPC) framework for coordinating body motion of a multi-legged underwater walking robot during moored mine clearance under ocean-current disturbances. The method treats the norm of manipulator joint torques as an effort-related …