The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass
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 Eyeba...
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Izhevsk Institute of Computer Science
2018
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| Online Access: | http://hdl.handle.net/1721.1/118917 https://orcid.org/0000-0003-3155-6223 |