{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T01:31:09Z","timestamp":1760232669778,"version":"build-2065373602"},"reference-count":33,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2022,11,15]],"date-time":"2022-11-15T00:00:00Z","timestamp":1668470400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Spanish Government Projects","award":["DPI2014-57220-C2-1-P","PGC2018-095939-B-I00","S2018\/NMT-4331"],"award-info":[{"award-number":["DPI2014-57220-C2-1-P","PGC2018-095939-B-I00","S2018\/NMT-4331"]}]},{"name":"RoboCity2030 DIH-CM Madrid Robotics Digital Innovation Hub","award":["DPI2014-57220-C2-1-P","PGC2018-095939-B-I00","S2018\/NMT-4331"],"award-info":[{"award-number":["DPI2014-57220-C2-1-P","PGC2018-095939-B-I00","S2018\/NMT-4331"]}]},{"name":"Programas Actividades I + D en la Comunidad de Madrid","award":["DPI2014-57220-C2-1-P","PGC2018-095939-B-I00","S2018\/NMT-4331"],"award-info":[{"award-number":["DPI2014-57220-C2-1-P","PGC2018-095939-B-I00","S2018\/NMT-4331"]}]},{"name":"Structural Funds of the EU","award":["DPI2014-57220-C2-1-P","PGC2018-095939-B-I00","S2018\/NMT-4331"],"award-info":[{"award-number":["DPI2014-57220-C2-1-P","PGC2018-095939-B-I00","S2018\/NMT-4331"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In underwater environments, ensuring people\u2019s safety is complicated, with potentially life-threatening outcomes, especially when divers have to work in deeper conditions. To improve the available solutions for working with robots in this kind of environment, we propose the validation of a control strategy for robots when taking objects from the seabed. The control strategy proposed is based on acceleration feedback in the model of the system. Using this model, the reference values for position, velocity and acceleration are estimated, and then the position error signal can be computed. When the desired position is obtained, it is possible to then obtain the position error. The validation was carried out using three different objects: a ball, a bottle, and a plant. The experiment consisted of using this control strategy to take those objects, which the robot carried for a moment to validate the stabilisation control and reference following the control in terms of angle and depth. The robot was operated by a pilot from outside of the pool and was guided using a camera and sonar in a teleoperated way. As an advantage of this control strategy, the model upon which the robot is based is decoupled, allowing control of the robot for each uncoupled plane, this being the main finding of these tests. This demonstrates that the robot can be controlled by a control strategy based on a decoupled model, taking into account the hydrodynamic parameters of the robot.<\/jats:p>","DOI":"10.3390\/s22228828","type":"journal-article","created":{"date-parts":[[2022,11,16]],"date-time":"2022-11-16T04:39:03Z","timestamp":1668573543000},"page":"8828","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3348-0533","authenticated-orcid":false,"given":"Juan S.","family":"Cely","sequence":"first","affiliation":[{"name":"Centro de Autom\u00e1tica y Rob\u00f3tica, Universidad Polit\u00e9cnica de Madrid, C\/Jos\u00e9 Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4996-9416","authenticated-orcid":false,"given":"Miguel \u00c1ngel","family":"P\u00e9rez Bayas","sequence":"additional","affiliation":[{"name":"Centro de Autom\u00e1tica y Rob\u00f3tica, Universidad Polit\u00e9cnica de Madrid, C\/Jos\u00e9 Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"},{"name":"Escuela Superior Polit\u00e9cnica de Chimborazo, Riobamba 060155, Ecuador"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9666-1775","authenticated-orcid":false,"given":"Marco","family":"Carpio","sequence":"additional","affiliation":[{"name":"Centro de Autom\u00e1tica y Rob\u00f3tica, Universidad Polit\u00e9cnica de Madrid, C\/Jos\u00e9 Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"},{"name":"Grupo de Investigaci\u00f3n en Interacci\u00f3n Rob\u00f3tica y Automatica (GIIRA), Universidad Polit\u00e9cnica Salesiana, Calle Turuhayco 3-69 y Calle Vieja, Cuenca 010105, Ecuador"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1067-0564","authenticated-orcid":false,"given":"Cecilia Elisabet","family":"Garc\u00eda Cena","sequence":"additional","affiliation":[{"name":"Centro de Autom\u00e1tica y Rob\u00f3tica, Universidad Polit\u00e9cnica de Madrid, C\/Jos\u00e9 Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"},{"name":"Escuela T\u00e9cnica Superior de Ingenier\u00eda y Dise\u00f1o Industrial, Universidad Polit\u00e9cnica de Madrid, Ronda de Valencia 3, 28012 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3320-3897","authenticated-orcid":false,"given":"Avishai","family":"Sintov","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Tel-Aviv University, Tel-Aviv Yafo 6226414, Israel"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8009-5350","authenticated-orcid":false,"given":"Roque","family":"Saltaren","sequence":"additional","affiliation":[{"name":"Centro de Autom\u00e1tica y Rob\u00f3tica, Universidad Polit\u00e9cnica de Madrid, C\/Jos\u00e9 Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Marani, G., and Yuh, J. 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