2020-03-262020-03-262011OCEANS 2011 IEEE - Spain9781457700866https://hdl.handle.net/20.500.12585/9109In this paper we present a Control Moment Gyroscope (CMG) for underwater robots. This is a single gimbal CMG with pyramid type configuration. This device has a modular design and is self-contained (i.e., all mechanical and electrical parts are contained in the CMG's hull.) The mechanical, electrical and electronic components of the CMG are described, and two experimental test are carry out to demonstrate the system functionality. © 2011 IEEE.Recurso electrónicoapplication/pdfenghttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/conferenceObject10.1109/Oceans-Spain.2011.6003401Control moment gyroscopeElectrical partsElectronic componentExperimental testModular designsSystem functionalityUnderwater robotsMachine designinfo:eu-repo/semantics/restrictedAccessAtribución-NoComercial 4.0 InternacionalUniversidad Tecnológica de BolívarRepositorio UTB228374328005623300910065065583666603913268