The use of gyroscope feedback in the control of the walking gaits for a small humanoid robot

Hansjoerg (Jacky) Baltes, Sara McGrath, John Anderson

Research output: Contribution to journalConference article

7 Citations (Scopus)


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 FIRA 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.

Original languageEnglish
Pages (from-to)628-635
Number of pages8
JournalLecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
Publication statusPublished - 2005 Oct 17


ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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