ICRA 2011 Paper Abstract

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Paper ThP202.3

Rust, Ian (MIT), Asada, Harry (MIT)

The Eyeball ROV: Design and Control of a Spherical Underwater Vehicle Steered by an Internal Eccentric Mass

Scheduled for presentation during the Regular Sessions "Robot Design for Advanced Applications" (ThP202), Thursday, May 12, 2011, 15:55−16:10, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 19, 2014

Keywords Robotics in Hazardous Fields, New Actuators for Robotics, Teleoperation

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 hydrodynamic analysis. Due to poor open loop stability characteristics, stability augmentation is implemented using onboard sensors and was designed and tested in simulation. A physical proof-of-concept prototype is also presented.

 

 

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