A Biped Robot Stabilized by the "Spinning Top Effect": First Study

Abstract This paper presents a new concept of dynamically stable walking robots. The main idea is to stabilize the robot by applying the "spinning-top principle", using a rotating mass at the top of the robot. This first study considers a rubber foot at the base of each leg and we model it with a compliant contact between the leg and the ground. The model analyses show a theorical stability for both one-legged and biped systems. Simulations of the biped show its good behaviour when evolving on a plane ground or when climbing a stair. The experimental conclusions are also encouraging eventhough experimentations show a slow fall of the robot. Nevertheless, the presence of the rotor considerably helps in stabilizing the robot, what will considerably facilitate the design of a controller.