Combining pose control and angular velocity control for motion balance of humanoid robot soccer EROS

摘要

This paper proposes a research about the humanoid robot system stability to the basic movements in playing football (walking, running, and kicking a ball). The system controls the stability of the robot body angle in order to remain in an ideal position, using the hand as a function of the feedback that has been controlled the actuator separately with leg function on the robot. The hand has a function as robot body tilt actuator controller and the foot has a function as gait motion control system that controls the robot to walk. This system has deficiency to disorders the high impulse, resulting in added angular velocity control system functions, which can reduce the foot force moment generated when stopping suddenly and unexpectedly ran. System control used PID control while in motion pattern and kinematic control system using Fuzzy algorithm. We applied the combination between the control and speed control angle pose at EROS (EEPIS Robosoccer).