The Hemispherical Resonator Gyroscope (HRG), also called wine-glass gyroscope or mushroom gyro, is a compact, low noise, high performance angular rate or rotation sensor. An HRG is made using a thin solid-state hemispherical shell, anchored by a thick stem. This shell is driven to a flexural resonance by electrostatic forces generated by electrodes which are deposited directly onto separate fused-quartz structures that surround the shell. The gyroscopic effect is obtained from the inertial property of the flexural standing waves. Although the HRG is a mechanical system, it has no moving parts, and can be very compact.