Turning a robot, particularly an under-actuated bipedal humanoid robot, is challenging. Several methods proposed in the literature for producing human-like motion in such robots are innovative but are limited in their range of motion. This paper presents an approach to control the orientation of a robot using a control moment gyroscope (CMG). A demonstration platform is developed to test this concept and physical experiments are conducted to determine the prototype’s turning range and performance. This concept is then extended to a backpack mount where trials are conducted using human subjects to estimate the performance of the system that can potentially be used to turn bipedal humanoid robots.

This content is only available via PDF.
You do not currently have access to this content.