Attitude control of a quadruped robot during two legs supporting

Concerns a study aimed at achieving lengthy support of a quadruped robot on two legs during walking. When the robot is supported on diagonally opposite legs it can stand without change of supporting legs using a model of a reaction-wheel type inverted pendulum. Therefore, some basic experiments of the reaction-wheel model were performed using vibration rate-gyros as attitude sensors. Since the drift of the vibration rate-gyro was too large to get the accurate attitude, a drift-compensation loop was added to feedback loop yielding the desired balancing.<>