Attitude control of a tumbler system with rotational joints using a gyroscope

We develop an unstable structure (a tumbler system with joints) that has circular arc type bottoms, which is a model of a biped walking robot. Its attitude is controlled by using a small gyroscope. This paper describes the design of the feedback control system which controls the attitude by supporting one of the leg and driving the crotch joints. The basic feedback control system is a one-input two-output (SIMO) system. The H/sub /spl infin// control theory is used to design the compensator. The results of our experiment on the designed control system show that we successfully stabilized the control of the tumbler system with rotational joints.