We propose to use auxiliary stabilization devices to reduce requirements on drives used for articulations. Gyrubot is built to challenge the idea:
* Low-end (2k€) servos
* Simplest 2-DoF leg design
* Control moment gyroscope (CMG) for balancing / steering
* No vision, no sensing!
* Walks perfectly blindfolded!
https://hal.archives-ouvertes.fr/hal-03172031
In this video we see the steering experiment described in section IV-b of the paper: with asymettric control of the scissored pairs it is possible to track the yaw angle, allowing for turns. The reference signal is set from a remote control panel.
