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Using a Symmetric Rotor as a Tool for Balancing
[chapter]
2006
Lecture Notes in Computer Science
In the Humanoid Leagues balancing during walking and running is still the biggest challenge for most of the teams. We present here some work in which a dynamic walker is stabilised by using a fast heavy rotor, a gyro. The dynamics of a symmetric, fast rotating gyro is different from that of a non-rotating solid body, e.g. in the case of small disturbances it tends to keep the axes the same. Results show that the rotor enhances the stability of the walking in the simulations. In a model for an
doi:10.1007/11780519_7
fatcat:lhquwsbyrzgnnadp335zgybsea