Title :
Stabilization of biped dynamic walking using gyroscopic couple
Author :
Wong, Terence C F ; Hung, Y.S.
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ., Hong Kong
Abstract :
This paper presents a new strategy for dynamic walking machine where a gyroscope mounted on top of the biped is processed to achieve balancing both in the coronal and sagittal planes. A gait is devised and simulation results are provided to show the feasibility of proposed balancing method
Keywords :
gyroscopes; legged locomotion; mobile robots; motion control; robot dynamics; robust control; balancing; biped dynamic walking; coronal plane; dynamic walking robot; gyroscope; gyroscopic couple; sagittal plane; stabilization; Aircraft navigation; Flywheels; Foot; Gyroscopes; Kinematics; Legged locomotion; Marine vehicles; Robot sensing systems; Stability; Wheels;
Conference_Titel :
Intelligence and Systems, 1996., IEEE International Joint Symposia on
Conference_Location :
Rockville, MD
Print_ISBN :
0-8186-7728-7
DOI :
10.1109/IJSIS.1996.565057
