EMITTER International Journal of Engineering Technology
Vol 6 No 1 (2018)

Walking Trajectory Optimization Algorithm For Robot Humanoid on Synthetic Grass

Dimas Pristovani Riananda (Politeknik Elektronika Negeri Surabaya)
Ardik Wijayanto (Politeknik Elektronika Negeri Surabaya)
Ali Husein Alasiry (Politeknik Elektronika Negeri Surabaya)
A. Subhan Khalilullah (Politeknik Elektronika Negeri Surabaya)

Article Info

Publish Date
10 Jul 2018


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.

Copyrights © 2018

Journal Info





Computer Science & IT


EMITTER International Journal of Engineering Technology is a BI-ANNUAL journal published by Politeknik Elektronika Negeri Surabaya (PENS). It aims to encourage initiatives, to share new ideas, and to publish high-quality articles in the field of engineering technology and available to everybody at ...