Gyrubot: nonanthropomorphic stabilization for a biped

International audienceDemands 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

Real-time system architecture design practices

International audienceIn this paper we give an overview of both hardware and software architectures of real time systems used in devices for various purposes-from lab bench contraptions to cars. The goal of the paper is to reveal separate classes of such architectures as well as to define preconditions for choosing a particular architecture

Scissored pair control moment gyroscope inverted pendulum

International audienceMotivated by non-anthropomorphic dynamic stabilization of a walking robot, we are working on a 2D inverted pendulum stabilized with a scissored pair of control moment gyroscopes. This inverted pendulum is a fair approximation of a robot, allowing us to study the dynamics in simplified settings. In this paper we propose a model for the pendulum; the model neglects all unessential terms and thus is suitable for analysis. We also propose a simple control law based on the linearization of the model and we validate it experimentally

Gyrubot: nonanthropomorphic stabilization for a biped

International audienceDemands 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

Real-time system architecture design practices

International audienceIn this paper we give an overview of both hardware and software architectures of real time systems used in devices for various purposes-from lab bench contraptions to cars. The goal of the paper is to reveal separate classes of such architectures as well as to define preconditions for choosing a particular architecture