Im trying to build a Autonomous submarine AUV similar to the Slocum glider.
In order to dive the battery tray is moved forward thus altering the centre of balance on the pitch to a predetermined angle (25 deg). At a certain depth the tray moves back to the negative angle (-25) and the sub rises. the sub moves through the water in a sawtooth motion.
Using your balance robot would this be possible? Its basically the reverse of what the robot does. Could you help?