Underwater experiments of a water-jet-based spherical underwater robot

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.