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ROBOCUP
2004
Springer

The Use of Gyroscope Feedback in the Control of the Walking Gaits for a Small Humanoid Robot

9 years 9 months ago
The Use of Gyroscope Feedback in the Control of the Walking Gaits for a Small Humanoid Robot
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.
Jacky Baltes, Sara McGrath, John Anderson
Added 02 Jul 2010
Updated 02 Jul 2010
Type Conference
Year 2004
Where ROBOCUP
Authors Jacky Baltes, Sara McGrath, John Anderson
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