A PROPOSAL FOR BIPEDAL LOCOMOTION USING GYROSCOPIC EFFECT
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In literature, there have been bipeds which involve the use of a large number of actuators and those which use gravitational force to propel i t . ; passive dynamic walkers. Study has also been canied out in context to connect the similarities between gaits of twolegged robots and their biological counterparts. The present work focuses on the idea of joining these two extremities with a novel approach to actuate two-lggged systems. This paper proposes the idea on how to use gyroscopic effect, as means of propulsion, for bipedal locomotion. By modeling and simulating a two-legged system in ADAMS, the authors prove the feasibility of the proposal. The biped illustrated in the paper consists of a rotating flywheel which provides gyroscopic couple in order to move the system forward as the legs march in the frontal plane of the system. Preliminary results regarding the effect of the mass and speed of the gyroscope have been shown and the proposal is also supported by a mathematical analysis which provides a measure of the leg saoke in terms of the angle rotated by the system about the leg in support phase. The present work does not consider the start and the stop positions of the system but aims primarily at proving the concept of how gyroscopes can be used to propel a bipedal system. 2007 World Scientific Publishing Co. Pte. Ltd.
