Design of humanoid robot stable walking using inverse kinematics and zero moment point

Ario Sunar Baskoro, Mark Gabriel Priyono

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

Main problem of humanoid locomotion is walking stability. Goal of this research is designing and standardize the stability of robot. Commonly, research of humanoid robot uses the method of static walking or dynamic walking for its stability. The usage of static walking on robots emphasize on stability pose while dynamic walking emphasizes on its mobility efficiency. The combination of both walking methods can achieve a stable and efficient humanoid robot movement, in which applies the rule of Zero Moment Point and Inverse Kinematic. Optimize centre of mass from humanoid robot with selection of combination material. This research will be done by simulation and real examiner to get a stability margin and also velocity of robot to ensure a quick and easy robot motion planning. The result of humanoid robot stability margin is 3.44 mm and its velocity 8.11cm/s.

Original languageEnglish
Title of host publicationProceedings - 2016 International Electronics Symposium, IES 2016
EditorsHendy Briantoro, Ahmad Zainudin, Desy Intan Permatasari
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages335-339
Number of pages5
ISBN (Electronic)9781509016402
DOIs
Publication statusPublished - 21 Feb 2017
Event18th International Electronics Symposium, IES 2016 - Bali, Indonesia
Duration: 29 Sep 201630 Sep 2016

Publication series

NameProceedings - 2016 International Electronics Symposium, IES 2016

Conference

Conference18th International Electronics Symposium, IES 2016
CountryIndonesia
CityBali
Period29/09/1630/09/16

Keywords

  • Invers Kinematic
  • Stability
  • Zero Moment Point

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