The direction control of a biped robot using gyro sensor feedback

The turning (Direction Changing Walking) is necessary to move a robot all over the working place. However, the disturbance is the serious problem in the turning for example the slipping the feet on the ground or the swing by walking. In this paper, we proposed the robust direction control system that used gyro sensor feedback under environment with disturbance. We analyzed a steady-state characteristic by numerical simulation, proved that the direction control was effective by the walking simulation. We succeeded in stable turning by the walking experiments and decreased 45% of RMS of angle error than conventional method.