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Just AWriter
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Bipedal Cycling Robot

Robot which can balance, steer and correct itself while riding a fixed-gear bike.This robot system consists of a commercially available two-legged robot and a bicycle made by Yamaguchi. To detect how much the robot is tilting, the TAG201 gyro from Tamagawa Seiki is used. Based on the tilt data, a method called PID control is used to control the robot's balancing motion.The system has two speeds. Because there aren't any brakes, the robot stops by taking its feet off the pedals and placing them on the ground.Robot creator Masahiko Yamaguchi.

http://www.diginfo.tv/2011/11/11/11-0247-r-en.php
Bipedal Cycling Robot Can Balance, Steer and Correct Itself #DigInfo

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