A control path is added to a two-wheeled self-balancing vehicle that has steering augmentation and CMG or reaction wheel actuators for roll balancing. These actuators are used to damp yaw disturbances while preventing roll disturbances, based on a yaw rate disturbance signal received on the control path.

A control path is added to a two-wheeled self-balancing vehicle that has steering augmentation and CMG or reaction wheel actuators for roll balancing. These actuators are used to damp yaw disturbances while preventing roll disturbances, based on a yaw rate disturbance signal received on the control path.

A control moment gyroscope (CMG) is provided, selectively having a first spatial configuration and a second spatial configuration at least during operation of the CMG. In the first spatial configuration the CMG occupies a smaller volume than in the second spatial configuration. For example, in the first spatial configuration no part of the CMG projects beyond a predetermined geometrical boundary, while in the second spatial configuration, a portion of the CMG projects beyond the geometrical boundary.

A control moment gyroscope (CMG) is provided, selectively having a first spatial configuration and a second spatial configuration at least during operation of the CMG. In the first spatial configuration the CMG occupies a smaller volume than in the second spatial configuration. For example, in the first spatial configuration no part of the CMG projects beyond a predetermined geometrical boundary, while in the second spatial configuration, a portion of the CMG projects beyond the geometrical boundary.

In an example, a gyroscope device may include a control rotor to spin about a central axis and a reaction wheel to spin about the central axis, independent of the control rotor. An example gyroscope device may also include an actuator to change the orientation of the control rotor.

In an example, a gyroscope device may include a control rotor to spin about a central axis and a reaction wheel to spin about the central axis, independent of the control rotor. An example gyroscope device may also include an actuator to change the orientation of the control rotor.

A gyroscopically stabilised legged robot including: a body; a number of legs coupled to the body and configured for providing legged locomotion of the robot across a surface in use; an orientation sensor for detecting an angular orientation of the body; a control moment gyroscope mounted on the robot, the control moment gyroscope including a rotor that spins around a rotor spin axis in use, and a tilting mechanism for supporting the rotor relative to the robot, the tilting mechanism being configured to rotate the rotor spin axis about two gyroscope rotation axes to thereby generate respective gyroscopic reaction torques; and a gyroscope controller configured to control operation of the tilting mechanism based at least in part on the detected angular orientation of the body, such that gyroscopic reaction torques are generated to at least partially stabilise the angular orientation of the body during the legged locomotion of the robot.

A boat stabilizer system includes a first gyro stabilizer configured to be arranged inside a hull, a first fin stabilizer including a fin configured to be arranged outside the hull and move relative the hull, and a power transmission interconnecting the first gyro stabilizer and the first fin stabilizer. The power transmission is arranged to transfer energy derived from precession torque of the first gyro stabilizer to the first fin stabilizer to actuate the fin.

Feedback control circuitry includes rate limiter circuitry configured to generate a rate limited position command based on a position command for a controlled component and based on a speed command for the controlled component. The feedback control circuitry also includes error adjustment circuitry configured to apply a control gain to an error signal to generate an adjusted error signal. The error signal is based on position feedback and the rate limited position command, and the position feedback indicates a position of the controlled component. The feedback control circuitry further includes an output terminal configured to output a current command generated based on the adjusted error signal.

Feedback control circuitry includes rate limiter circuitry configured to generate a rate limited position command based on a position command for a controlled component and based on a speed command for the controlled component. The feedback control circuitry also includes error adjustment circuitry configured to apply a control gain to an error signal to generate an adjusted error signal. The error signal is based on position feedback and the rate limited position command, and the position feedback indicates a position of the controlled component. The feedback control circuitry further includes an output terminal configured to output a current command generated based on the adjusted error signal.