TY - JOUR
T1 - The use of gyroscope feedback in the control of the walking gaits for a small humanoid robot
AU - Baltes, Jacky
AU - McGrath, Sara
AU - Anderson, John
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-540-32256-6_60
DO - 10.1007/978-3-540-32256-6_60
M3 - Conference article
AN - SCOPUS:26444509452
SN - 0302-9743
VL - 3276
SP - 628
EP - 635
JO - Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
JF - Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
ER -