Development of a ball type of underwater robot

It is our purpose to develop a novel ball type of underwater robot that has the characteristics of flexibility, driven by wireless remote controller, good response and safety. This paper proposes a novel type of underwater robot utilizing servo motors as the actuator to realize moving motion. We also discuss the structure, motion mechanism and characteristic evaluation of the robot. The experimental results illustrated that the developed robot has characteristics of compact volume, quick response. And also the running speed control can be easily performed by frequency adjustment.