A Torso Driven Walking Algorithm for Dynamically Balanced Variable Speed Biped Robots
نویسندگان
چکیده
One of the more difficult problems facing developers of bipedal walking robots is the selection of appropriate sensors for maintaining balance. In this experiment, the Ballybot robot is used to evaluate proposed robotic tilt sensors and sensor data processing algorithms. Two inexpensive sensors in particular are examined: a piezo-electric gyroscope designed for remote control helicopters, and an inclinometer. The results demonstrate that while it is not possible to balance the robot with only one of these sensors, it is possible to use the sensors co-operatively to control the robot.
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