Stability control of a two legged robot is provided by controlling the speed of the inertial rotor of a gyroscopic actuator

摘要

The two legged robot has a stabilising actuator in the form of a gyroscopic rotor [1] with a coupled motor [2] that is controlled [3] based upon rotational speed [5] and robot position [4]. The actuator speed is controlled such that its inertial force varies dependent on position to provide a stabilising action.