Stability Analysis of Humanoid Robots with Gyro Sensors Subjected to External Push Forces

This paper presents a robot-control system for recovery from destabilization due to external pushing forces. The system controls the joint angle of the humanoid robot with the help of integrated gyro sensors. Two single-axis gyro sensors are integrated into a real robot to detect the changes in angular velocity, induced by robot motion during walking, falling or interaction with other physical objects. The detected angular velocity is used to control the ankle-pitch and roll motors for keeping the robot's balance. The robot reaction is analyzed by extending the inverted pendulum model and results are used for recovering robot stability.