@article{IPI1214055, title = "Walking Trajectory Optimization Algorithm For Robot Humanoid on Synthetic Grass", journal = "Politeknik Elektronika Negeri Surabaya (PENS)", volume = "Vol 6 No 1 (2018)", pages = "", year = "2018", url = https://emitter.pens.ac.id/index.php/emitter/article/view/229/99 author = "Dimas Pristovani Riananda; Ardik Wijayanto; Ali Husein Alasiry; A. Subhan Khalilullah", abstract = "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.", }