Design and Control of a Waist-Mounted Gyroscope-Based Stabilization System for Humanoid Robots

Maintaining dynamic balance and stability in humanoid robots remains a substantial challenge, especially when navigating complex, unstructured environments or experiencing external disturbances. This study introduces a novel waist-mounted stabilization system utilizing a mechanically actuated gyroscope to improve humanoid robot equilibrium during standing, walking, and running. The design incorporates a high-strength aluminum alloy (AL-7075-T6) for gimbals and a flywheel, driven by brushless DC motors. Engineered for a 76.4 kg humanoid robot with a height of 1.74 meters, the system achieves a gyroscopic coupling moment of 99.95 Nm at a disc speed of 350 rad/s, validated under a safety factor of 4.6. Dynamic equations were derived and linearized for control design across three axes (roll, pitch, yaw). MATLAB simulations confirmed enhanced stabilization using both pole placement and Linear Quadratic Regulator (LQR) control strategies. The LQR method yielded a rise time of 0.30 s, minimal overshoot of 0.69%, and complete stabilization within 3.5 s. This research advances the biomechanical design and control precision of humanoid robots in real-world environments.