Geodesic
The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass
Russian journal of nonlinear dynamics, Tome 10 (2014) no. 4, pp. 513-531.

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A Remotely Operated Vehicle (ROV) is developed for use in the inspection of underwater structures in hazardous environments. The vehicle presented can change orientation like an eyeball using a novel gimbal mechanism for moving an internal eccentric mass. Combined with a pair of thrusters, the Eyeball ROV can move in any direction with non-holonomic constraints. In this paper the design concept is presented first, followed by dynamic and hydrodynamic analysis. Due to poor open loop stability characteristics, stability a ugmentation is implemented using onboard sensors and was de signed and tested in simulation. A physical proof-of-concept prototype is also presented. 
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Ian C. Rust; H. Harry Asada. The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass. Russian journal of nonlinear dynamics, Tome 10 (2014) no. 4, pp. 513-531. http://geodesic.mathdoc.fr/item/ND_2014_10_4_a9/

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