In this paper we present the underwater experiments for spherical underwater robot which is developed in our laboratory. First, we give a brief illustration for the dynamics modeling of single water-jet propeller. Then, the coordination of multiple water-jet propellers is introduced. Based on the coordination, we discuss the transforms of three basic motions, surge, heave and yaw. To evaluate the characteristics of these basic motions, we carry out different experiments for each basic motions. And finally, we give the experimental results and analysis for the results.

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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.

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. Index Terms -Ball Type of Robot, Underwater Robot, PWM Control, Micro mechanism, Micro actuator, Medical ApplicationList key index terms here. No mare than 5.