Kinematic Control of Underwater Robotic System
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- Institutt for marin teknikk 
Underwater robotic systems can be used for a variety of operations, from reparationsof sub-sea installations, to perform inspections and surveys. Such operations willdemand robust and fast kinematic control, if they were to be executed automatically.Development of an inverse kinematic solver for a vehicle-manipulator system is veryintricate, and it is therefore implemented on the small, humanoid robot Nao. Thisenables frequent testing and refinement of the solution algorithm, to create a goodfoundation for further development on underwater platforms.