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Published in:
2005 | OriginalPaper | Chapter
The Use of Gyroscope Feedback in the Control of the Walking Gaits for a Small Humanoid Robot
Authors : Jacky Baltes, Sara McGrath, John Anderson
Published in: RoboCup 2004: Robot Soccer World Cup VIII
Publisher: Springer Berlin Heidelberg
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This paper describes methods used in stabilizing the walking gait of
Tao-Pie-Pie
, a small humanoid robot given rate feedback from two RC gyroscopes.
Tao-Pie-Pie
is a fully autonomous small humanoid robot (30cm tall). Although
Tao-Pie-Pie
uses a minimal set of actuators and sensors, it has proven itself in international competitions, winning honors at the RoboCup and HuroSot competitions in 2002 and 2003. The feedback control law is based solely on the rate information from two RC gyroscopes. This alleviates drift problems introduced by integrating the RC gyroscope feedback in the more common position control approaches.