This study presents a real-time algorithm for even distributing the torque burden on the
parallel manipulator with an autonomous underwater vehicle (AUV) through the cooperation …

The underwater vehicle manipulator system is a powerful tool for the exploration and
development of marine resources. Due to the complexity of the marine environment, there …

Receding horizon controllers are special approximations of optimal controllers in which the
continuous time variable is discretized over a horizon of optimization. The cost function is …

This paper presents a novel hybrid control method for position tracking of an underwater
quadruped walking robot. The proposed approach combines an existing position-tracking …

In my Thesis I elaborated certain improvements in the subject areas of Optimal and Adaptive
controllers with the main aim of realizing their efficient integration. In the traditional …

In future ocean development, it is considered that many tasks will be achieved by
cooperative motions of several underwater robots. However, no research has been studied …

抄録 We have proposed a resolved acceleration control (RAC) method for underwater
vehicle-manipulator systems (UVMS) which is a position control method. The model of …

抄録 We have proposed a Resolved Acceleration Control (RAC) method for Underwater
VehicleManipulator Systems which is a position control method. In this paper, we report …

抄録 Since Underwater Vehicle-Manipulator Systems (UVMS) are expected to play an
important role in futre ocean development, we have proposed position and force control …

抄録 In future underwater development, it is considered that many tasks will be achieved by
cooperative motions of underwater robots. In this paper, as a first step in the development of …