Progres PPT Pres14455

Content
 Introduction
 Problem statement
 Objective
 Literature survey
 Methodology
 Result and discussion
 Conclusion
Introduction
 Gyroscope is a device used for measuring or maintaining
orientation() and angular velocity().
 Léon Foucault developed this device

 Gyros
 precession motion
 The design concept for the gyroscope

balance system on the waist of a humanoid
robot is to provide stability and control
during movement.
 It acts as a stabilizing mechanism, counteracting any
external forces that may cause the robot to lose
balance
Wednesday, April 10, 2024 BY Endalk.A 3
Types of gyroscope
 depend on construction of gyroscope(V. M. Passaro et al., 2017a). mechanical gyroscopes are typically
more cost-effective and larger in size.
Mechanical Ring Laser Gyroscope Fiber-optic gyroscope Micro electromechanical system
The principle of Coriolis Effect

principles of angular
Principle of Sagnac effect
momentum

Purpose of gyroscope for balance stability
 Navigation and Orientation Control:
 providing continuous information about angular
motion to maintain accurate orientation.
 Vehicle Stability:
 motorcycles , bicycles to cars
 Satellite Attitude Control:
 Stabilization in Cameras and Optics
 Gaming Controllers and Virtual Reality (VR):
 Unmanned Aerial Vehicles (UAVs):

Literature review
Statement of Problem
 Static and dynamic balance stability of a humanoid robot
 during walking under an undetermined, unstructured, staircase up/down.
 terrain may be skidding, there may be obstacles, and over weight of battery .

Objective of the study
Literature review
 General objective
 To design and develop combination of MPU6050 Gyro sensor and mechanical gyroscope-
based balance for humanoid robot waist.
 Specific objective.
 To optimize design parameter of gyroscopic disc (radius and thickness of disc) and 3D MODEL by
using ANSYS.
 To design LQR(linear quadratic regulator ) controller and use Arduino Uno board for control system
 To model the Prototype of proposed gyroscope
 To show compensating of gravity force

Wednesday, April 10, 2024 BY Endalk. A 7
Literature review
Scope and significance of the study
 Scope of the study
 Selection and integration of gyroscope sensors
 Control system design.
 Mechanical design and prototype.
 Significance of the study
 to cope with increasing demands of a dynamic and competitive market, companies have to
make better performance of humanoid robots with static and dynamic stability.
 Advancement in humanoid robot balance.
 Contribution to robotics research

Literature survey
1. (Li & Vallery, 2012)
 In order to maintain balance stability for patients with neurological disorders and ageing, is
worn via a backpack and it is manually operated.
 Used variable speed control moment gyro (VSCMG)
 The average adult human weighs 70 kg and is 1.7 m tall.
 The gyroscope's disc has a 1.5-cm-radius and 3 kg
 output torque 70Nm. The equipment weighs 10 kg.

Cont.…
Literature review
2. (Lemus et al., 2017)
 To increase the momentum that is produced by the device investigates
 the flywheel's material aerodynamic behavior
 Utilize 7075-T6 aluminum.
 The assumptions is same as (Li & Vallery, 2012).
 Use three gyroscopes disc with 2.5 kg each and a 100 mm radius.
 produced the device that weigh 10kg and produced 90Nm output torque.

Cont.…
Literature review
3. (Chiu & Goswami, 2014)
 to increase momentum of inertia
 by using the material that have high density and high strength for the flywheel and
 by changing the position of two flywheels in scissor paired.

ωf
 Mass of device is 10% of the typical human mass ωg
 Limitation, weight of the device is not feel comfort If
Gimbals τ
τ1 τ
If
Flywheel
-ωg
ωf

Literature review
Cont.…
4. (Abraham et al., 2020)
 Bicycle self-balancing by mounting a gyroscope in the center of the two wheels
 The base was built with plywood because it is inexpensive and good at absorbing shocks.
Mild steel was also used to construct the gimbals frame and flywheel.
 The bicycle they created can balance itself at a 20-degree tilt, and the flywheel will be
balanced at a speed of 2250 rpm

Literature review
Methodology
2. Material
1. METHODS
LITERATURE ANALYSIS MATHMATICAL MODEL CONTROL PROTO TYPE

REVIEWS KINEMATICS AND DYNAMICS SYSTEM
 Finding
 gait analysis
(EULAR ANGLE AND NEWTANIAN  LQR
research gap  mechanical SECOND LOW)  ARDUINO
 Find solution design State model UNO
 Review again  state variable  MPU6050
 Shaft
 disc state space representation
 feed back controller
 Inner gimbals
 Outer gimbals

Literature review
ANALYSIS
 Specification of TORO
Parts of upper Symbol Link length of Parts of lower Symbol Link length of Mass of link in
limbs upper limbs limbs lower limbs (m) kg in each
(m)
Torso L3 0.326 Feet sole right L0 and L7 0.19 0.35
and lift
Neck L7 0.179 Shank right L1 and L5 0.4 0.5
and lift
Upper arm L8 and L10 0.313 Thigh right L2 and L4 0.4 0.5
left and right and left
Lower arm L9 and L11 0.303 Waist L3 0.245 Gyro 5kg

left and right
Total height of 1.74m Total mass of Toro humanoid robot 76.4 kg
robot

Literature review
Cont.…
 Degree of freedom
Joint Head Shoulder Elbow Wrist Waist Hip Knee Ankle
DOF 3 yaw 2 Pitch 1 Pitch 3 Pitch 3 Pitch 3 Pitch 1 Pitch 2 Roll
pitch Roll Roll Roll pitch

roll
roll Yaw Yaw Yaw
no. 3 2*2=4 1*2=2 3*2=6 3 3*2=6 1*2=2 2*2=4
Total 3+4+2+6+3+6+2+4=30

Cont..
 Standard angle at waist joint of humanoid robot
Joint Humanoid robot waist rotations
and
Leg rotation degree
(Hernández-Santos et al., 2012)
Waist Pitch -150 to 1000 / 700 /500 (Thavai,

2015)
Roll 450 /500 to -450 /500 (Thavai,

2015)
Yaw -450 to 450

• =

Gait analysis
 The gait cycle is typically divided into two main phases
 Stance Phase: 62% of the gait cycle,

 Swing Phase :38% of the gait cycle
 Double Support Phase: 20% of the time taken

 20% OF 1.2 second is 0.24 sec
 Single Support Phase: 40% of the time taken
 40% OF 1.2 second is 0.48 sec.
 one complete stride: of TORO is

approximately 0.8 to 1.0 meters
 and take approximately 1.2 seconds

Literature review
Design of shaft
 According to ASME, shaft without keyway permissible
 Direct coupling and indirect coupling. shear stress (𝜏 ) is taken as 30% of yield strength or
18% of ultimate strength. And take the minimum of
the two and L=20*d (Patil et al., 2016).
 w/o=0.3*S_(yt), 0.18 *S_ut
 w/o=0.3*503 Mpa=150.9Mpa
 w/o=0.18*572Mpa=102.96Mpa
Mt d 16 𝑀 𝑡 π
[ 𝜏 𝑚𝑎𝑥 ] = J ∗ 2 = J3= ∗ d4  chose 102.96Mpa, Shaft with keyway
𝜋𝑑 32
Mt d 16 𝑀 𝑡
[ 𝜏 𝑚𝑎𝑥 ] = π 4
∗
2
=
𝜋 𝑑
3  .
∗d
32 𝓁 =20 ∗ 𝑑=20 ∗ ( 0.0187534 𝑚 )=𝟎 . 𝟑𝟕𝟓𝟎𝟔𝟖 𝒎
d=
√
16 M t
3
𝜏 𝑚𝑎𝑥 π
𝐝 =𝟎.𝟎𝟏𝟖𝟕𝟓𝟑𝟒 𝐦
Wednesday, April 10, 2024
𝑚=𝜌𝑣=𝜌 𝐴𝓁
BY Endalk.A
𝑚=𝟎.𝟐𝟗𝟏𝟏𝟏𝟔𝟏𝟐 𝒌𝒈
18
Literature review
Design of gyroscopic disc
 T=100Nm from TORO
 .
 ,
 ,
1 1
𝐼= ∗ 𝑀 𝑑𝑖𝑠𝑐 ∗ ( 𝑅 𝑑𝑖𝑠𝑐 +𝑟 𝑑𝑖𝑠𝑐 ) , 𝐼= 𝜌𝜋 𝑡 ¿ 
2 2
2 2 0.8*=
1
𝐼 = 𝜌𝜋 𝑡 ( 𝑅 𝑑𝑖𝑠𝑐 +𝑟 𝑑𝑖𝑠𝑐 ) , 𝑟 𝑑𝑖𝑠𝑐 =9.4 𝑚𝑚=0.0094 𝑚
4 4
2
1
𝐼= 𝜌𝜋 𝑡 ( 𝑅 𝑑𝑖𝑠𝑐 +(0.0094𝑚) )=𝟎.𝟎𝟗𝟖𝟒𝟕𝟗𝑘𝑔.𝑚
4 4 2
2
Literature review
cont.…
Minimize
Subject to;

Literature review
Cont..

Literature review
Design of gyroscopic gimbals
Inner gimbal structure has circular shape,
Thickness 10 mm , width (w) 22mm
Inner diameter () 0.125m and outer diameter() 0.135m.
Moment of inertia of inner gimbals ()

Literature review
Design of gyroscopic gimbals
Outer gimbals connect with legs of robots
= ,=
Moment of inertia of outer gimbals ()

Literature review
structural analysis gyroscopic disc
 Total deformation equivalent (von- Mises) stress

Literature review
structural analysis gimbals
 Total deformation

Literature review
Mathematical model
body axis  Kinematics model
inertial axis
Euler angles (ψ, , θ)
{ }[ ]{ } [ ]{ } { }
𝑥1 cos ψ − sin ψ cos 90 0 𝑥𝑙 cos ψ − sin ψ 0 𝑥𝑙 𝑥𝑙
𝑦 1 = sin ψ cos ψ cos 90 0 𝑦 𝑙 = sin ψ cos ψ 0 𝑦 𝑙 = 𝑅 1× 𝑦 𝑙
𝑧1 cos 90
0
cos 90
0
cos 0
0
𝑧𝑙 0 0 1 𝑧𝑙 𝑧𝑙
{ }[ ]{ } [ ]{ } { }
𝑥2 cos ϕ cos 900 sin ϕ 𝑥1 cos ϕ 0 sin ϕ 𝑥1 𝑥1
𝑦 2 = cos 900 cos 00 cos 90 0 𝑦1 = 0 1 0 𝑦1 =𝑅 2 × 𝑦1
𝑧2 − sin ϕ cos 90
0
cos ϕ 𝑧1 −sin ϕ 0 cos ϕ 𝑧1 𝑧1
{ }{ }[ ]{ } [ ]{ } { }
𝑥3 𝑥𝑏 cos 0 0 cos 900 cos 90 0 𝑥2 1 0 0 𝑥2 𝑥2
0
𝑦 3 = 𝑦 𝑏 = cos 90 cos 𝜃 − sin 𝜃 𝑦2 = 0 cos 𝜃 − sin 𝜃 𝑦2 = 𝑅 3 𝑦 2
𝑧3 𝑧𝑏 cos 90
0
sin θ cos 𝜃 𝑧2 0 sin 𝜃 cos 𝜃 𝑧2 𝑧2
{ }[ ][ ][ ]{ } {}
𝑥𝑏 1 0 0 cos ϕ 0 sin ϕ cos ψ − sin ψ 0 𝑥𝑙 𝑥𝑙
𝑦𝑏 = 0 cos 𝜃 − sin 𝜃 0 1 0 sin ψ cos ψ 0 𝑦 𝑙 = 𝑅 3 × 𝑅 2× 𝑅 1 𝑦 𝑙
𝑧𝑏 0 sin 𝜃 cos 𝜃 − sin ϕ 0 cos ϕ 0 0 1 𝑧𝑙 𝑧𝑙
[ ]
𝑐𝑜𝑠 𝜙 𝑐𝑜𝑠𝜓 −𝑐𝑜𝑠 𝜙 𝑠𝑖𝑛𝜓 𝑠𝑖𝑛 𝜙
𝑇 𝑙𝑏 = 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛 𝜙 𝑐𝑜𝑠 𝜓 +𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛𝜓 𝑠𝑖𝑛𝜃 𝑠𝑖𝑛 𝜙 𝑠𝑖𝑛𝜓 +𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠𝜓 − 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜙
− 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜓 𝑠𝑖𝑛𝜙 +𝑠𝑖𝑛𝜃 𝑠𝑖𝑛𝜓 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛𝜓 𝑠𝑖𝑛 𝜙+𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠𝜓 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜙
Literature review
Mathematical Model
{ }{ } {}
𝑥𝑙 𝑥𝑏
{ }
𝑥𝑏 𝑥𝑙
body axis 𝑦 𝑏 = 𝑅 3 × 𝑅 2× 𝑅 1 𝑦 𝑙
𝑦 𝑙 =𝑅 1 × 𝑅 2 × 𝑅 3 𝑦 𝑏
inertial axis 𝑧𝑏 𝑧𝑙 𝑧𝑙 𝑧𝑏
[ ]
cos 𝜙 cos 𝜓 − sin 𝜓 cos 𝜃+ cos 𝜓 sin 𝜙 sin 𝜃 sin 𝜃 sin 𝜓 + cos 𝜓 sin 𝜙 cos 𝜃
¿ sin 𝜓 cos 𝜙 cos 𝜓 cos 𝜃 +sin 𝜃 sin 𝜓 sin 𝜙 −sin 𝜃 cos 𝜓 +cos 𝜃 sin 𝜓 sin 𝜙
−sin 𝜙 cos 𝜙 sin 𝜃 cos 𝜃 cos 𝜙
R
Angular velocity vector in the Body frame()

(− 1)
Ri (θ) =Ri (− θ)¿ ,= 𝑅 3 (−θ) × 𝑅 2(− ϕ) × 𝑅 1(− ψ)
{ }[ ][ ][ ]{ }
𝜔𝑥𝑏 1 0 0 cos ϕ 0 −sin ϕ cos ψ sin ψ 0 𝜃˙
𝜔 𝑦𝑏 = 0 cos 𝜃 sin 𝜃 0 1 0 − sin ψ cos ψ 0 ϕ̇
𝜔 𝑧𝑏 0 − sin 𝜃 cos 𝜃 sin ϕ 0 cos ϕ 0 0 1 ψ̇
{ }[ ]{ }
𝜔𝑥𝑏 𝑐𝑜𝑠 𝜙 𝑐𝑜𝑠𝜓 𝑐𝑜𝑠 𝜙 𝑠𝑖𝑛𝜓 − 𝑠𝑖𝑛 𝜙 𝜃˙
𝜔 𝑦𝑏 = 𝑠𝑖𝑛𝜃 𝑠𝑖𝑛 𝜙 𝑐𝑜𝑠 𝜓 −𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛𝜓 𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛𝜙 𝑠𝑖𝑛𝜓 +𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜓 𝑠𝑖𝑛𝜃 𝑐𝑜𝑠 𝜙 ϕ̇
𝜔 𝑧𝑏 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜓 𝑠𝑖𝑛 𝜙 +𝑠𝑖𝑛 𝜃 𝑠𝑖𝑛𝜓 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛𝜓 𝑠𝑖𝑛 𝜙 − 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠𝜓 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜙 ψ̇

Literature review
Euler rate
{ }[ ][ ][ ]{ }
body axis ψ̇ 𝑥 1 0 0 cos ϕ 0 −sin ϕ cos ψ sin ψ 0 0
ψ̇ 𝑦 = 0 cos 𝜃 sin 𝜃 0 1 0 −sin ψ cos ψ 0 0
inertial axis 0 −sin 𝜃 cos 𝜃 sin ϕ 0 cos ϕ 0 0 1 ψ̇
ψ̇ 𝑧
{ }[ ]
ψ̇ 𝑥 − ψ̇ 𝑠𝑖𝑛 𝜙
ψ̇ 𝑦 = ψ̇ 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜙
ψ̇ 𝑧 ψ̇ 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜙
=
{ }[ ]{ } { }
θ̇ 𝑥 1 0 0 ˙
𝜃 ˙
𝜃
θ̇ 𝑦 = 0 cos 𝜃 sin 𝜃 0 = 0
θ̇ 𝑧 0 − sin 𝜃 cos 𝜃 0 0
{ }[][ ][ ][ ]
𝜔𝑥𝑏 ˙
𝜃 0 − ψ̇ 𝑠𝑖𝑛 𝜙 𝜃˙ − ψ̇ 𝑠𝑖𝑛 𝜙
𝜔 𝑦𝑏 = 0 + ϕ̇ cos 𝜃 + ψ̇ 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜙 = ϕ̇ cos 𝜃 + ψ̇ 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜙
𝜔 𝑧𝑏 0 − ϕ̇ sin 𝜃 ψ̇ 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜙 − ϕ̇ sin 𝜃 + ψ̇ 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜙

Literature review
Cont.…
{ }[ ][ ][ ]{ }
body axis ψ̇ 𝑥 1 0 0 cos ϕ 0 −sin ϕ cos ψ sin ψ 0 0
inertial axis ψ̇ 𝑦 = 0 cos 𝜃 sin 𝜃 0 1 0 −sin ψ cos ψ 0 0
ψ̇ 𝑧 0 −sin 𝜃 cos 𝜃 sin ϕ 0 cos ϕ 0 0 1 ψ̇
{ }[ ]
ψ̇ 𝑥 − ψ̇ 𝑠𝑖𝑛 𝜙
ψ̇ 𝑦 = ψ̇ 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜙
ψ̇ 𝑧 ψ̇ 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜙
=
{ }[ ]{ } { }
θ̇ 𝑥 1 0 0 ˙
𝜃 𝜃˙
θ̇ 𝑦 = 0 cos 𝜃 sin 𝜃 0 = 0
θ̇ 𝑧 0 − sin 𝜃 cos 𝜃 0 0
{ }[][ ][ ][ ]
𝜔𝑥𝑏 ˙
𝜃 0 − ψ̇ 𝑠𝑖𝑛 𝜙 𝜃˙ − ψ̇ 𝑠𝑖𝑛 𝜙
𝜔 𝑦𝑏 = 0 + ϕ̇ cos 𝜃 + ψ̇ 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜙 = ϕ̇ cos 𝜃 + ψ̇ 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜙
𝜔 𝑧𝑏 0 − ϕ̇ sin 𝜃 ψ̇ 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜙 − ϕ̇ sin 𝜃 + ψ̇ 𝑐𝑜𝑠 𝜃 𝑐𝑜𝑠 𝜙

Literature review
Cont.…
{ }[ {}[ ][ ]]{ { }}
body axis
inertial axis 𝜔𝑥𝑏 𝜃˙ − ψ̇ 𝑠𝑖𝑛 𝜙 1 0 −sin 𝜙 𝜃˙
Euler angles (ψ, , θ) 𝜔 𝑦𝑏 = ϕ̇ cos 𝜃+ψ̇ 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠𝜙 = 0 cos 𝜃 cos 𝜙sin 𝜃 𝜙˙
𝜔 𝑧𝑏 − ϕ̇sin˙ 𝜃+ ψ̇1𝑐𝑜𝑠sin
𝜃 cos (𝜃
( θ ) tan ( ϕ0) −sin
𝜃 𝑐𝑜𝑠𝜙 cos(𝜃ϕcos
θ ) tan ) 𝜔 𝜙 ψ̇
𝑥𝑏
𝜙˙ = 0 cos ( ϕ ) − sin ( ϕ ) 𝜔 𝑦𝑏
ψ̇ 0 sin ( θ ) sec ( ϕ ) cos ( θ ) sec ( ϕ ) 𝜔 𝑧𝑏
 Dynamic equation of design gyroscope

Dynamics of roll axis(x)(inner gimbals)
Dynamics of pitch axis(outer gimbal)

Literature review
State Space Representation
State variable State equation
Roll angle or angle along x- axis
Angular velocity along x- axis
Pitch angle or angle along y -axis
Angular velocity or along y – axis
Control input
{ }[ ]{ } [ ]
T applied torque ˙
0 1 0 0 0 0
𝑋1 − 𝐵𝑥 −𝐼 𝑋1 1
Speed of disc along spinning disc 0 0 0
{ }
˙2
𝑋 𝐼1 𝐼1 𝑋2 𝐼1 𝑢1
= +
Output ˙ 3
𝑋 0 0 1 𝑋3 0 0 𝑢2
0
, ˙ 4
𝑋 0
𝐼
0
− 𝐵𝑦 𝑋4 0
1
𝐼2 𝐼2 𝐼2
]{ }
𝑋1
{ } [
𝑌1
𝑌2
= 1
0
0
0
0
1
0
0
𝑋2
𝑋3
𝑋4

Literature review
Design controller
% CONTROLABLILITY OF THE SYSTEM
A = [0 1 0 0;
0 -1.8532 0 -11.528; Controllability:
0 0 0.4893 0;
0 0 1 -1.074]; n=4
B = [0 0;
117 0;
0 57.25;
0 0];
% Check controllability
[ ]
Ct = ctrb(A, B); 0 1 0 0
rankCt = rank(Ct); 0 − 1.8532 0 − 11.528
𝐴=
n = size(A, 1); % Number of states 0 0 0 1
0 0.4893 0 − 1.074
if rankCt == n
[ ]
disp('The system is controllable.'); 0 0
else 117 0
disp('The system is not controllable.'); 𝐵=
0 0
End 0 57.25
rankCt = 4
n=4 D=0
The system is controllable
Literature review
Cont.…
% OBSEVABLITY OF THE SYSTEM Observability:
A = [0 1 0 0;
0 -1.8532 0 -11.528;
0 0 0.4893 0;
0 0 1 -1.074];
[ ]
C = [1 0 0 0; 0 1 0 0
0 0 1 0]; 0 − 1.8532 0 − 11.528
𝐴=
% Check observability
0 0 0 1
Ot = obsv(A, C); 0 0.4893 0 − 1.074
[ ]
rankOt = rank(Ot);
det(Ot); 0 0
n = size(A, 1); % Number of states 117 0
𝐵=
if rankOt == n 0 0
disp('The system is observable.'); 0 57.25
else
disp('The system is not observable.');
end D=0
rankOt = 4
n= 4
Result
'The system is observable

Literature review
Cont.…
 Stability of system
A = [0 1 0 0;
0 -1.8532 0 -11.528;
0 0 0 1;
0 0.4893 0 -1.074];
eigenvalues = eig(A);
% Check the real parts of the eigenvalues

if all(real(eigenvalues) < 0)
disp('The system is stable.');
else
disp('The system is unstable.');
end
Result
eigenvalues =
0.0000 + 0.0000i
0.0000 + 0.0000i
-1.4636 + 2.3428i
-1.4636 - 2.3428i

Literature review
Pole placement
desired poles = [-2 -3 -4 -1] and x(0)=[0 ;0 ;0 ;0]
 Compute the controller gain matrix K using pole K=
placement 0.0583 0.0314 -0.0181 -0.1058
K = place(A, B, desiredPoles); -0.0370 -0.0063 0.0729 0.0593

Literature review
Pole placement
 Step response of system
 Desired poles = [-2 -3 -4 -1]
K=
0.0583 0.0314 -0.0181 -0.1058
-0.0370 -0.0063 0.0729 0.0593

Literature review
Pole placement
desired poles = [-2 -3 -4 -5] desired poles = [-10 -3 -4 -5] desired poles = [ -10 -15 -19 -12]
K= K= K=
0.0772 0.0380 0.0216 -0.0924 0.1942 0.0684 0.0990 -0.0748 0.8109 0.1891 0.0199 -0.0945
0.0428 0.0208 0.2439 0.1158 0.2013 0.0569 0.5638 0.1934 0.0407 0.0167 0.8755 0.2437

Literature review
Linear quadratic controller(LQR)
Q = [67 0 0 0;0 1 0 0;0 0 67 0;0 0 0 1];
R = [12 0; 0 12]
 Cost function K = lqr(A, B, Q, R)// MATHLAB command
Where Q and R and X is state vector of the system and u is the K=
2.3508 0.3342 0.2388 -0.0571
control input vector -0.2388 -0.0280 2.3508 0.3981
 , Q = [1 0 0 0; 0 1 0 0; 0 0 1 0; 0 0 0 1];
 Algebraic Riccati Equation (ARE) R = [1 0; 0 1];
, K = lqr(A, B, Q, R) MATHLAB command
P is the symmetric positive definite solution matrix K=
0.9993 0.9921 0.0378 -0.0594
-0.0378 -0.0291 0.9993 1.0027
Step 1: Define the cost matrices Q and R
Step 2: Solve the Riccati equation(p)
 numerical methods
 built-in Riccati solver(MATLAB)
 Iteration
Step 3: Calculate the feedback gain matrix K, K = lqr(A, B, Q, R)
Step 4: Implement the control law
Literature review
Linear quadratic controller(LQR)
Q = [1 0 0 0; 0 1 0 0; 0 0 1 0; 0 0 0 1]; Q = [67 0 0 0;0 1 0 0;0 0 67 0;0 0 0 1];
R = [1 0; 0 1]; R = [12 0; 0 12]
K = lqr(A, B, Q, R) MATHLAB command K = lqr(A, B, Q, R)// MATHLAB command
K= K=
0.9993 0.9921 0.0378 -0.0594 2.3508 0.3342 0.2388 -0.0571
-0.0378 -0.0291 0.9993 1.0027 -0.2388 -0.0280 2.3508 0.3981

Literature review
gyro sensor with Arduino Uno
. Connect the VCC pin of the MPU6050 to the 5V pin on the Arduino Uno,
 Connect the GND pin of the MPU6050 to the GND pin on the Arduino
Uno,
 Connect the SDA pin of the MPU6050 to the A4 (SDA) pin on the
Arduino Uno,
 Connect the SCL pin of the MPU6050 to the A5 (SCL) pin on the
Arduino Uno, and
 connect the INT pin of the MPU6050 to 2 digital pin on the Arduino
Uno

Literature review
implementation
.

2. Material
 Hardware Arduino Uno
ESC A2212/13T Motor
MPU6050 Sensor Motor drive

Bread board
Methods .
software
 Software
 Arduino ide
 PROTEUS
 ANSYS 2023 R2
 MATHLAB 2023b

Methods .
Result and discussion

 Gyroscopic couple / torque (C): Gyroscopic couple is a reactive couple which opposes
any changes of the spinning motion of the spinning axis.

Methods .
Result and discussion

 Observability:
 Controllability:
n=4
The system is observable
.and rank is 4 system state variable is  stability of system pole

controllable  Stability of system LQR:
placement:
 stability of system pole placement: Check the stability of the Check the stability of the
Check the stability of the controlled controlled system controlled system
system A_CL = eig(A - B * K) A_CL = eig(A - B * K)
A = eig(A) Result stable Result stable
eigenvalues = eig(A_CL); eigenvalues = eig(A_CL); eigenvalues = eig(A_CL);
eigenvalues = eigenvalues = eigenvalue =
0.0000 + 0.0000i -19.0000 -31.7446 + 0.0000i
0.0000 + 0.0000i -10.0000 -15.8831 + 0.0000i
-1.4636 + 2.3428i -12.0000 -8.5957 + 0.5367i
-1.4636 - 2.3428i -15.0000 -8.5957 - 0.5367i

Methods .
Cont.…
 For step response

Methods .
Step response data

System Pole placement LQR
RISE TIME NaNs 0.32 s 0.30 s
PER.OVERSHOOT NaN% 0.00% 1.69%
SETTLING TIME NaN s 0.58 s 0.50 s
PEAK TIME Inf s 1.19 s 1.28 s
.

Methods .
Arduino Uno code


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 Result and discussion

 Léon Foucault developed this device

 The design concept for the gyroscope

Mechanical Ring Laser Gyroscope Fiber-optic gyroscope Micro electromechanical system

The principle of Coriolis Effect

Wednesday, April 10, 2024 BY Endalk.A 4

 motorcycles , bicycles to cars

 Satellite Attitude Control:

 Stabilization in Cameras and Optics

 Gaming Controllers and Virtual Reality (VR):

 Unmanned Aerial Vehicles (UAVs):

Wednesday, April 10, 2024 BY Endalk.A 5

 during walking under an undetermined, unstructured, staircase up/down.

Wednesday, April 10, 2024 BY Endalk.A 6

 To model the Prototype of proposed gyroscope

 To show compensating of gravity force

 Selection and integration of gyroscope sensors

 Control system design.

 Mechanical design and prototype.

 Significance of the study

 Advancement in humanoid robot balance.

 Contribution to robotics research

 Used variable speed control moment gyro (VSCMG)

 The average adult human weighs 70 kg and is 1.7 m tall.

 The gyroscope's disc has a 1.5-cm-radius and 3 kg

 output torque 70Nm. The equipment weighs 10 kg.

Wednesday, April 10, 2024 BY Endalk.A 9

2. (Lemus et al., 2017)

 To increase the momentum that is produced by the device investigates

 the flywheel's material aerodynamic behavior

 Utilize 7075-T6 aluminum.

 The assumptions is same as (Li & Vallery, 2012).

Wednesday, April 10, 2024 BY Endalk.A 10

3. (Chiu & Goswami, 2014)

 to increase momentum of inertia

 by changing the position of two flywheels in scissor paired.

 Mass of device is 10% of the typical human mass ωg

 Limitation, weight of the device is not feel comfort If

Wednesday, April 10, 2024 BY Endalk.A 11

 Bicycle self-balancing by mounting a gyroscope in the center of the two wheels

Wednesday, April 10, 2024 BY Endalk.A 12

LITERATURE ANALYSIS MATHMATICAL MODEL CONTROL PROTO TYPE

Wednesday, April 10, 2024 BY Endalk.A 13

Lower arm L9 and L11 0.303 Waist L3 0.245 Gyro 5kg

Wednesday, April 10, 2024 BY Endalk.A 14

Joint Head Shoulder Elbow Wrist Waist Hip Knee Ankle

DOF 3 yaw 2 Pitch 1 Pitch 3 Pitch 3 Pitch 3 Pitch 1 Pitch 2 Roll

pitch Roll Roll Roll pitch

roll Yaw Yaw Yaw

no. 3 2*2=4 1*2=2 3*2=6 3 3*2=6 1*2=2 2*2=4

Wednesday, April 10, 2024 BY Endalk.A 15

Waist Pitch -150 to 1000 / 700 /500 (Thavai,

Roll 450 /500 to -450 /500 (Thavai,

Yaw -450 to 450

Wednesday, April 10, 2024 BY Endalk.A 16

 Stance Phase: 62% of the gait cycle,

 Double Support Phase: 20% of the time taken

 one complete stride: of TORO is

Wednesday, April 10, 2024 BY Endalk.A 17

 w/o=0.3*S_(yt), 0.18 *S_ut

Wednesday, April 10, 2024 BY Endalk.A 20

Wednesday, April 10, 2024 BY Endalk.A 21

no. 3 22=4 12=2 32=6 3 32=6 12=2 22=4

 w/o=0.3S_(yt), 0.18 S_ut