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)

Abstract

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)
Volume3276
Publication statusPublished - 2005 Oct 17

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Humanoid Robot
Gyroscope
Gyroscopes
Gait
Robots
Feedback
Information Rates
Position Control
Position control
Minimal Set
Feedback Control
Feedback control
Actuator
Actuators
Sensor
Sensors

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

The use of gyroscope feedback in the control of the walking gaits for a small humanoid robot. / Baltes, Hansjoerg (Jacky); McGrath, Sara; Anderson, John.

In: Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science), Vol. 3276, 17.10.2005, p. 628-635.

Research output: Contribution to journalConference article

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