Balance Control of Humanoid Dancing Robot ERISA while Walking on Sloped Surface using PID

摘要

This paper discussed an application of PID balance control system on humanoid dancing robot series named ERISA (EEPIS Robot Dancing Sense of Art). The robot is designed to perform one of Indonesian traditional dancing on which the robot has to move on the dancing field. The field has been designed as a flat surface. However, due to imperfect fabrication, it could have some sloped surface that makes the robot easily fall. The implementation of current balance control aims to make ERISA robot able to walk on sloped field surface in balance and not easy to fall. An analog tilt sensor located on the robot's shoulder is used to measure the slope of the field. Using the tilt value, the control equation of robot servo mechanics is manipulated using PID, therefore, the robot autonomously moves its pose in reverse to the falling direction. The proposed balance control system is investigated when ERISA robot walking on the sloped surface. The degree of the sloped surface is set to vary from 5° to the maximum extent of robot ability. The test results show the addition of the balance control system gives ERISA robot capability of walking on the sloped surface up to 10°.