5 accepted papers
This work revisits two classical closed-loop inverse kinematics (CLIK) formulations for hierarchical control and investigates their differences in the context of articulated intervention-autonomous underwater vehicles (AIAUVs). The class of AIAUVs consists of free-floating, slender, multi-link vehic…
A robot with kinematical redundancy with respect to a main task may perform additional tasks simultaneously with the main one. Often, it is desirable to prioritize the performance of some tasks over that of others. To create a strict priority between the different tasks, meaning the performance of h…
With the increasing demand for safe and efficient human-robot interaction in industrial applications, robotic manipulators with mixed rigid-elastic joints have gained significant attention, yet their control remains challenging due to inherent parameter uncertainties and complex dynamics. In this pa
A robot with kinematical redundancy with respect to a main task may perform additional tasks simultaneously with the main one. Often, it is desirable to prioritize the performance of some tasks over that of others. To create a strict priority between the different tasks, meaning the performance of h
This letter presents a control system that enables an underwater snake robot to converge towards and follow a straight path in the presence of constant irrotational ocean currents. The robot is assumed to be neutrally buoyant, fully submerged and moving in a virtual plane with a sinusoidal gait and