Dimas Pristovani Riananda
Politeknik Elektronika Negeri Surabaya

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Walking Trajectory Optimization Algorithm For Robot Humanoid on Synthetic Grass Dimas Pristovani Riananda; Ardik Wijayanto; Ali Husein Alasiry; A. Subhan Khalilullah
EMITTER International Journal of Engineering Technology Vol 6 No 1 (2018)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1223.267 KB) | DOI: 10.24003/emitter.v6i1.229


Synthetic grass surface is a new rule in international robot soccer competition (RoboCup). The main issue in the development of the RoboCup competition today is about how to make a humanoid robot walk above the field of synthetic grass. Because of that, the humanoid robot needs a system that can be implemented into the walking algorithm. This paper describes how to maintain the stability of humanoid robot called EROS by using walking trajectory algorithm without a control system. The establishment of the walking trajectory system is combined with a process of landing optimization using deceleration and heel-strikes gait optimization. This system has been implemented into a humanoid robot with 52 cm of height and walking on synthetic grass with different speeds. By adding optimization, the robot walks more stable from 32% to 80% of stability. In the next research, the control system will be added to improve the stability.