Robot Gyroscopic Design

[Bones]

Hi Everyone,
I have an idea for everyone to have a think about.
To see if it will work or not.

Now walking robots have a lot of problems falling over, even the
top notch ones like asimo can fall over.
If they put one foot out of place, even slightly then the next couple
of steps compound and then Splat.

I am thinking of fitting a gyroscope into the robot. Like the old
Bicycle gyroscope you learnt in school, but smaller.
Maybe in the chest somewhere.

Now I am thinking that the gyroscopic properties would slow the
tipping/tilting of the robot, but will still allow the forward and
sideways plane movement. As it takes the foot off the ground to place
it forward then the Gyroscope will try and keep the body upright on
the back foot.

Once the gyroscope has spun up then it would only need a small amount
of power to keep it at that speed I'm thinking.
The only problem I see is that the torso of the robot would always
try and stay in that upright position. This would make it look like
it has a pole stuck up it's bum. lol.

I am thinking this idea may help lessen the constant balancing act
code that is needed to to take one step after the other without
falling over.

So what does everyone else think?

Rod

[Sandgroper]

Hi Bones,

Sound like it would work.

I remember reading somewhere about ring-laser"gyros". They were set up so that any change in direction caused a detectable doppler-type interference pattern in opposing laser streams. No moving parts.

The robot doesn't have to look like it's got a pole up its.... It only has to keep its centre of gravity over its feet.

By the way, have you seen the donkey robot on YouTube? Nice piece of balance work there.

[Robotman]

I would be surprised if the idea hasn't already been tried many times in many labs in many pasts.

Probably exactly because Asimo doesn't have a gyro in it would lead me to suspect that such a passive system won't work - the effort required to unbalance the robot for taking a step would probably "topple the gyro", and that's plan A scrapped.

I like Sandgroper's idea about using a "ring-laser gyro". I just see one slight problem: it is **expensive**. Really **expensive**. Probably so **expensive** I would need to re-mortgage my house.
And that's also probably why Asimo doesn't use one of those either.

My thought is that a walking machine needs active control over its muscles, with the gryo being replaced by a 3-axis device - similar to what's in our ears - for balance control. (I have seen a basic capacitive sensor design that is a fluid in a drum with hemi-circle metals plates on the outside. The fluid moving around on the inside changes the capacitance between the two metal plates. Put three of these together to make "vestibular tubes".)

I don't think the maths needs to be "heavy" either. Surely someone prepared to build the hardware could knock up a software neural net (or equivalent) that is capable of learning how to walk using the hardware it was "born" with. The goals would be: 1) learning to just stay standing still, 2) learning to return to standing after being mechanically pushed off balance, 3) learning to return to standing after being pushed off balance *by software*. More tricks like learning to pick itself up off the floor and return to standing could be implemented later.

Each robot would the same hardware, but with slightly different tolerances, so it would have to learn its "body" like a baby. I've been saying this for awhile now (and not just to myself either) - just like recently some "guru" of robotics research has come out and said: "Duh, we ain't getting nowhere wid all dis hard-coding stuff, so let's make it learn like a baby does. We is too clever, huh?"

***k me.

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