3 accepted papers
Simulations are highly valuable in marine robotics, offering a cost-effective and controlled environment for testing in the challenging conditions of underwater and surface operations. Given the high costs and logistical difficulties of real-world trials, simulators capable of capturing the operatio
This paper presents a control architecture for an underwater vehicle-manipulator system (UVMS) to enable simultaneous tracking of end-effector configuration and contact force during floating-base manipulation. The main feature of the architecture is its combination of a task-priority (TP) kinematic
This paper proposes a controller for the GIRONA500 Underwater Vehicle Manipulator System and reports experimental results for an autonomous floating-base valve-turning manipulation application. The selected method is based on kinematic control, avoiding the need for a complex, and difficult to obtai…