Henrik M. Schmidt-Didlaukies

Norwegian University of Science and Technology

Papers

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About

Henrik M. Schmidt-Didlaukies is a researcher advancing the frontier of underwater robotics, with a primary focus on the modeling, control, and energy optimization of articulated robotic systems. His work centers on developing robust control frameworks for complex vehicle-manipulator systems (VMSs) and bio-inspired underwater snake robots (USRs), addressing challenges in simulation, precise manipulation, and energy harvesting. His most-cited paper, "Modeling of Articulated Underwater Robots for Simulation and Control" (2018, 22 citations), provides foundational algorithms for forward dynamics and thruster configuration in kinematic tree structures, enabling more accurate simulation and control of these systems. In his 2023 work on "Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems" (4 citations), he introduced a framework that allows simultaneous execution of multiple tasks while maintaining robustness, a key contribution for precise underwater operations. Notably, his research on "Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control" (2023, 3 citations) explores innovative energy-harvesting strategies by positioning USRs in vortex wakes, using coupled fluid-multibody simulations. Schmidt-Didlaukies’ work bridges theoretical modeling with practical control, offering significant insights for the next generation of autonomous underwater vehicles.