Development of a spherical underwater robot

@article{Lin2011DevelopmentOA,
  title={Development of a spherical underwater robot},
  author={Xichuan Lin and Shuxiang Guo and Koujirou Tanaka and Seji Hata},
  journal={The 2011 IEEE/ICME International Conference on Complex Medical Engineering},
  year={2011},
  pages={662-665}
}
This paper presents a spherical underwater robot which uses three vectored water-jet propellers as its propulsion system. In this paper we introduced the conceptual design of the spherical underwater robot including the hull, waterproof chamber, propulsion system. Then we develop a prototype of this spherical underwater robot. Finally, we carry out confirmatory experiments to verify the availability of the design of the spherical underwater robot. 

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