The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass

ICRA 2011
Pages: 5855 - 5862
Published: May 9, 2011
Abstract
A Remotely Operated Vehicle (ROV) is developed for use in the inspection of underwater structures in hazardous environments. The vehicle presented can change orientation like an eyeball using a novel gimbal mechanism for moving an internal eccentric mass. Combined with a pair of thrusters, the Eyeball ROV can move in any direction with non-holonomic constraints. In this paper the design concept is presented first, followed by dynamic and...
Paper Details
Title
The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass
Published Date
May 9, 2011
Journal
Pages
5855 - 5862
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