Stabilizing a Bipedal Mechanism Using Control Moment Gyroscopes

The use of control moment gyroscopes (CMGs) in bipedal robots is investigated. In previous studies, CMGs attached to the torso are used only to assist in attitude control. This research aims to use CMGs in bipedal robots not only to assist in attitude control but also as actuators to control the legs. However, specific methodologies for applying CMGs to robot motion have not yet been clarified. In this paper, a simple robot is designed that uses CMGs not only for attitude control but also for joint angle control. As a first step, to maintain the upright posture of this robot, a two-layer controller is implemented. Experimental results confirm that the controller maintains the robot’s attitude against disturbance while avoiding angular momentum saturation.