Gyrubot: nonanthropomorphic stabilization for a biped

Demands on leg degrees of freedom and control precision for bipedal robotics are steadily increasing, especially for the tasks involving walking on a rough terrain. In this paper we present an alternative, as well as a working proof-of-concept. Meet gyrubot: a 5-link almost planar bipedal robot with a torso complemented by a nonanthropomorphic stabilization system, capable of blindly walking through uneven areas. Despite being almost planar, the robot does not need any support in the frontal plane! This paper describes the mechanical design and the architecture of the controllers. We also provide the experimental evidence of the ability of gyrubot to navigate across non-flat terrains.

I. Introduction

Gyrubot is a bipedal robot: wheels are perfect for a paved road, but if you want a robot to cross a uneven terrain, legs are really the best option. While dynamic bipedal stabilization remains a challenging topic and a relevant benchmark for control design and a multitude of technological processes, a fulgurant progress in this area does not cease to amaze the public. Robots like Atlas [1], Cassie [2], Digit [3] have almost become commercially available and video clips of their capabilities attract hundreds of millions of viewers. They are able to perform somersaults [4] and ride hovershoes [5]. Amazing grace and agility of these robots, up until now available only for humans and animals, rely on the outstanding mechanical design, finest motor control and real-time processing of accurate sensor data.