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.
Volume Subject Area:
37th Mechanisms and Robotics Conference
Keywords:
control moment gyroscope,
human+oid robot,
biped,
human-like motion,
gyroscope,
gyroscopic torque
Topics:
Robots
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