1A2-M03 Development of Control Moment Gyroscope for Humanoid Robots(Humanoid(2))

Abstract

Humanoid robots use floor reaction force to control their attitude, but it is difficult to cancel out yaw torque effect only by this force. We made a Control Moment Gyroscope (CMG), which can generate relatively high torque and rapid response, aimed at yaw torque generation for attitude control of humanoid robots. We decided the specification of our CMG so that it can generate enough torque to stabilize our humanoid robot when it recovers from fall. We tested our CMG and confirmed that it can generate torque with enough accuracy.