Zero-G class underwater robots: unrestricted attitude control using control moment gyros

Thornton, B., Ura, T., Nose, Y. and Turnock, S. (2007) Zero-G class underwater robots: unrestricted attitude control using control moment gyros. IEEE Journal of Oceanic Engineering, 32, (3), 565-583. (doi:10.1109/JOE.2007.899274).


Full text not available from this repository.

Original Publication URL:


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 performed to demonstrate the practical application of CMGs and verify the associated theoretical developments. The ability to actively stabilize the translational dynamics of the robot is assessed and unrestricted attitude control is demonstrated in an experiment that involves vertically pitched diving and surfacing in surge. Finally, potential applications for Zero-G class AUVs are discussed.

Item Type: Article
Digital Object Identifier (DOI): doi:10.1109/JOE.2007.899274
ISSNs: 0364-9059 (print)
Related URLs:
Keywords: control moment gyro (cmg), internal kinematic underwater robot actuation (ikura), internal actuation, underwater robot, unrestricted attitude control, zero-g
Subjects: T Technology > TC Hydraulic engineering. Ocean engineering
V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
Divisions : University Structure - Pre August 2011 > School of Engineering Sciences > Fluid-Structure Interactions
ePrint ID: 50222
Accepted Date and Publication Date:
July 2007Published
Date Deposited: 30 Jan 2008
Last Modified: 31 Mar 2016 12:27

Actions (login required)

View Item View Item