Using a Gyro as a Tool for Continuously Variable Lateral Stabilisation of Dynamic Bipeds
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 o...
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| Published in: | Applied bionics and biomechanics Vol. 3; no. 3; pp. 237 - 243 |
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| Main Authors: | , , , , |
| Format: | Journal Article |
| Language: | English |
| Published: |
Hindawi Limited
01-01-2006
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| Online Access: | Get full text |
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| Summary: | 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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| ISSN: | 1176-2322 1754-2103 |
| DOI: | 10.1533/abbi.2006.0032 |