🚀 go-pugleaf

ktc@onan.jhuapl.edu writes:

>In article <1992Aug14.181900.26605@ee.ubc.ca> williamb@ee.ubc.ca (william  
>burchill) writes:
>> Could somebody post some information or suggest a book on sensors 
>> for detecting balance, i.e. orientation relative to the horizontal plane?
>> I'm praticularly interested in knowing what different types are available. 
>> Are there any without moving parts?
>> 
>> I recently saw a t.v. program which showed a 1 legged hopping robot in
>> action. How did this sense its balance? Could someone direct me to a 
>> technical publication on this work?
>> 
>> thanks.

>Check out anything by Marc Raibert (e.g, Legged Robots that Balance, MIT Press,  
>1986, or CMU reports CMU-RI-TR-83-20, CMU-LL-4-1985). The machine in question  
>used an inertial reference (gyroscope) to sense up. I seem to recall he had  
>problems with keeping bearings in the gyros due to impact loading (falling  
>down?)

>Kim

The YAMABICO Project, at the Intelligent Robot Lab, Tsukuba University,
of Prof. Shin'ichi Yuta, recently completed a balancing 2-wheeled mobile 
robot. The robot can executed planned motion paths, and is very stable. 
It uses an inertial reference (gyro). I don't know the exact details of 
the specifc sensor make and model used in this project.
I spent 7 months at the lab, and saw numerous experiments. It works well.

Unfortunately, the only publications are in Japanese. I believe an English
paper is in preparation. You would be best to contact the Prof. Yuta
directly email address yuta@roboken.is.tsukuba.jp

Good Luck

Alex Zelinsky
Univ. Wollongong
Australia