Estimation of External Force acting on Underwater Robots

Srinivasan Lakshminarayanan, Daniel Duecker, Andriy Sarabakha, Amartya Ganguly, Leila Takayama, Sami Haddadin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2024 IEEE 20th International Conference on Automation Science and Engineering, CASE 2024
PublisherIEEE Computer Society
Pages3125-3131
Number of pages7
ISBN (Electronic)9798350358513
DOIs
StatePublished - 2024
Event20th IEEE International Conference on Automation Science and Engineering, CASE 2024 - Bari, Italy
Duration: 28 Aug 20241 Sep 2024

Publication series

NameIEEE International Conference on Automation Science and Engineering
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference20th IEEE International Conference on Automation Science and Engineering, CASE 2024
Country/TerritoryItaly
CityBari
Period28/08/241/09/24

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