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

Jacky Baltes; Sara McGrath; John Anderson

doi:10.1007/978-3-540-32256-6_60

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

Jacky Baltes^*
, Sara McGrath
, John Anderson

^*此作品的通信作者

研究成果: 雜誌貢獻 › 會議論文 › 同行評審

13 引文斯高帕斯（Scopus）

摘要

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.

原文	英語
頁（從 - 到）	628-635
頁數	8
期刊	Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
卷	3276
DOIs	https://doi.org/10.1007/978-3-540-32256-6_60
出版狀態	已發佈 - 2005
對外發佈	是

ASJC Scopus subject areas

理論電腦科學
一般電腦科學

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10.1007/978-3-540-32256-6_60

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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.",

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AU - Anderson, John

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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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JO - Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)

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ER -

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

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