Using a Gyro as a Tool for Continuously Variable Lateral Stabilisation of Dynamic Bipeds
We present simulations of different types of biped walking machines that are stabilized in the lateral direction by adding a gyro. The simulations show that, in principle, it is indeed possible to stabilise biped walking machines. Examples presented in this work include a three-dimensional version o...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2006-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1533/abbi.2006.0032 |
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| _version_ | 1832553259923931136 |
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| author | N. M. Mayer K. Masui M. Browne M. Asada M. Ogino |
| author_facet | N. M. Mayer K. Masui M. Browne M. Asada M. Ogino |
| author_sort | N. M. Mayer |
| collection | DOAJ |
| description | We present simulations of different types of biped walking machines that are stabilized in the lateral direction by adding a gyro. The simulations show that, in principle, it is indeed possible to stabilise biped walking machines. Examples presented in this work include a three-dimensional version of the simplest walking model, which is based on earlier investigations, and an actuated biped robot. Here, the gyro is used as a reaction wheel. Finally, a rotor–brake combination is outlined that was used in an artistic biped robot at the Aichi World Exhibition. |
| format | Article |
| id | doaj-art-5cf6731dc8234c1480f1ceaf1a3f9fd1 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2006-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-5cf6731dc8234c1480f1ceaf1a3f9fd12025-02-03T05:54:24ZengWileyApplied Bionics and Biomechanics1176-23221754-21032006-01-013323724310.1533/abbi.2006.0032Using a Gyro as a Tool for Continuously Variable Lateral Stabilisation of Dynamic BipedsN. M. Mayer0K. Masui1M. Browne2M. Asada3M. Ogino4Asada S.I. ERATO JST, Osaka, JapanDept. of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, Osaka, JapanCSIRO Mathematical and Information Sciences, Brisbane, AustraliaAsada S.I. ERATO JST, Osaka, JapanAsada S.I. ERATO JST, Osaka, JapanWe present simulations of different types of biped walking machines that are stabilized in the lateral direction by adding a gyro. The simulations show that, in principle, it is indeed possible to stabilise biped walking machines. Examples presented in this work include a three-dimensional version of the simplest walking model, which is based on earlier investigations, and an actuated biped robot. Here, the gyro is used as a reaction wheel. Finally, a rotor–brake combination is outlined that was used in an artistic biped robot at the Aichi World Exhibition.http://dx.doi.org/10.1533/abbi.2006.0032 |
| spellingShingle | N. M. Mayer K. Masui M. Browne M. Asada M. Ogino Using a Gyro as a Tool for Continuously Variable Lateral Stabilisation of Dynamic Bipeds Applied Bionics and Biomechanics |
| title | Using a Gyro as a Tool for Continuously Variable Lateral Stabilisation of Dynamic Bipeds |
| title_full | Using a Gyro as a Tool for Continuously Variable Lateral Stabilisation of Dynamic Bipeds |
| title_fullStr | Using a Gyro as a Tool for Continuously Variable Lateral Stabilisation of Dynamic Bipeds |
| title_full_unstemmed | Using a Gyro as a Tool for Continuously Variable Lateral Stabilisation of Dynamic Bipeds |
| title_short | Using a Gyro as a Tool for Continuously Variable Lateral Stabilisation of Dynamic Bipeds |
| title_sort | using a gyro as a tool for continuously variable lateral stabilisation of dynamic bipeds |
| url | http://dx.doi.org/10.1533/abbi.2006.0032 |
| work_keys_str_mv | AT nmmayer usingagyroasatoolforcontinuouslyvariablelateralstabilisationofdynamicbipeds AT kmasui usingagyroasatoolforcontinuouslyvariablelateralstabilisationofdynamicbipeds AT mbrowne usingagyroasatoolforcontinuouslyvariablelateralstabilisationofdynamicbipeds AT masada usingagyroasatoolforcontinuouslyvariablelateralstabilisationofdynamicbipeds AT mogino usingagyroasatoolforcontinuouslyvariablelateralstabilisationofdynamicbipeds |