TY - GEN
T1 - Estimation of External Force acting on Underwater Robots
AU - Lakshminarayanan, Srinivasan
AU - Duecker, Daniel
AU - Sarabakha, Andriy
AU - Ganguly, Amartya
AU - Takayama, Leila
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In the context of robotics, accurately estimating external forces is essential. These estimations play a crucial role in collision detection, motion planning, robot control, disturbance compensation, environmental interactions, etc. Given the importance of external force estimation, We introduce a framework to estimate the forces acting on underwater robots. By leveraging dynamic models of the underwater remotely operated vehicle (ROV), our framework predicts and estimates forces based on velocity and acceleration data. We conducted real-world experiments on BlueROV2 underwater vehicle to test and verify the efficacy of our proposed framework. We determined that our framework can predict the external forces with an MAE of 0.8 N.
AB - In the context of robotics, accurately estimating external forces is essential. These estimations play a crucial role in collision detection, motion planning, robot control, disturbance compensation, environmental interactions, etc. Given the importance of external force estimation, We introduce a framework to estimate the forces acting on underwater robots. By leveraging dynamic models of the underwater remotely operated vehicle (ROV), our framework predicts and estimates forces based on velocity and acceleration data. We conducted real-world experiments on BlueROV2 underwater vehicle to test and verify the efficacy of our proposed framework. We determined that our framework can predict the external forces with an MAE of 0.8 N.
UR - http://www.scopus.com/inward/record.url?scp=85208276357&partnerID=8YFLogxK
U2 - 10.1109/CASE59546.2024.10711608
DO - 10.1109/CASE59546.2024.10711608
M3 - Conference contribution
AN - SCOPUS:85208276357
T3 - IEEE International Conference on Automation Science and Engineering
SP - 3125
EP - 3131
BT - 2024 IEEE 20th International Conference on Automation Science and Engineering, CASE 2024
PB - IEEE Computer Society
T2 - 20th IEEE International Conference on Automation Science and Engineering, CASE 2024
Y2 - 28 August 2024 through 1 September 2024
ER -