Self-controlled walking robot with gyro sensor network for stable movement on non-smooth surfaces

In this paper a gyro-sensor control for improved walking-robot stability is presented, which applies a new control algorithm to drive the servo motors in response to the transmitted signals from the gyro sensor. Modelling of gyro-sensor and servo-motor for electro-mechanical system simulation is undertaken to facilitate improvements of the walking robot's gyro-sensor-driven self-controlled balancing. The robot's pitch motion on non-smooth ground surfaces is verified experimentally and also theoretically with use of the developed system simulation tool.