Thursday, May 13, 2021
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Dr. Guero's biped robot awaits the command to start cycling.

Biped Robot Successfully Pedals
Dr. Guero, who demonstrated a Hitec Robonova-1 riding a motorcycle a few years ago, has accomplished something we think is even cooler. He has mounted a bipedal robot (it appears to be a modified Kondo KHR-3HV) on a bicycle that can pedal it while steering and leaning into turns like a person would. The robot can actually pull its feet off the pedals and apply friction to the ground to stop the bike, then place its feet back on the pedals, one foot preceding the other, and start pedaling again, all without falling over.

Balance is based on PID control and represents the first iteration in a system that eventually will include some level of learning to perfect its moves, Dr. Guero notes. The feet slightly adjust their angle as one and then the other pushes down to rotate the pedals. Specs: Height: 415mm, Length: 495mm, Weight: 2500 g, Tire OD: 195mm, Speed: about 10 km/h, Gyros: Roll, Yaw, Radio: AD-Band, Control Board: custom built (core SH7125). Check out the movie posted at Our thanks to Lem Fugitt, founding blogger at, for his assistance with this report.