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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 control input to its actuators. Controlling the orientation of the main body of a robot is important because it is typically where the sensors, scientific payload, and/or manipulators are attached. The experiments on aerial and underwater vehicles using the same algorithm show how this method can translate across different platforms and actuation methods. The simulation and experimental results are shown in this paper on air ( $\mu $ MORUS) and sea (AquaShoko) platforms.

Centroid Vectoring for Attitude Control of Floating Base Robots: From Maritime to Aerial Applications