Centroid Vectoring for Attitude Control of Floating Base Robots: From Maritime to Aerial Applications
In this paper, we show the uses of centroid vectoring for attitude control of floating base robots. To derive the control algorithm, we utilize dynamical and kinematic robot model, and ubiquitous Jacobian matrix, which allows us to control the orientation of the main body of a robot by adjusting the...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8632889/ |