Zero-G Class Underwater Robots: Unrestricted Attitude Control Using Control Moment Gyros

@article{Thornton2006ZeroGCU,
  title={Zero-G Class Underwater Robots: Unrestricted Attitude Control Using Control Moment Gyros},
  author={Bertram Thornton and Tamaki Ura and Yoshiaki Nose and Stephen Turnock},
  journal={IEEE Journal of Oceanic Engineering},
  year={2006},
  volume={32},
  pages={565-583}
}
The "Zero-G" is designated as a new class of underwater robot that is capable of unrestricted attitude control. A novel control scheme based on internal actuation using control moment gyros (CMGs) is developed to provide Zero-G class autonomous underwater vehicles (AUVs) with this unique freedom in control. This is implemented in the CMG-actuated Zero-G class internal kinematic underwater robot actuation (IKURA) system that was developed as part of this research. A series of experiments are… CONTINUE READING

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