Using a gyro as a tool for continuously variable lateral stabilisation of dynamic bipeds | Zendy

N. Michael Mayer | Zendy; K. Masui | Zendy; Matthew Browne | Zendy; Minoru Asada | Zendy; Masao Ogino | Zendy

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Using a gyro as a tool for continuously variable lateral stabilisation of dynamic bipeds

Author(s) -

N. Michael Mayer,

K. Masui,

Matthew Browne,

Minoru Asada,

Masao Ogino

Publication year - 2006

Publication title -

applied bionics and biomechanics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.397

H-Index - 23

eISSN - 1754-2103

pISSN - 1176-2322

DOI - 10.1533/abbi.2006.0032

Subject(s) - biped robot , control theory (sociology) , robot , brake , rotor (electric) , work (physics) , control engineering , variable (mathematics) , computer science , engineering , simulation , artificial intelligence , automotive engineering , control (management) , mechanical engineering , mathematics , mathematical analysis

We present simulations of different types of biped walking machines that are stabilized in the lateral direction by adding a gyro. The simulations show that, in principle, it is indeed possible to stabilise biped walking machines. Examples presented in this work include a three-dimensional version of the simplest walking model, which is based on earlier investigations, and an actuated biped robot. Here, the gyro is used as a reaction wheel. Finally, a rotor–brake combination is outlined that was used in an artistic biped robot at the Aichi World Exhibition

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