Multivariable Control for Jumping Mechanism of T-FLoW Humanoid Robot

摘要

T-FLoW (Teen FLoW) is one of the teen size humanoid robots developed by ER2C (EEPIS Robotics Research Center) laboratory. There are various problems that occur when the robot performs dynamic locomotion, one of them is the overloading received on every actuator thus causing the asynchronous locomotion of the robot. In this paper, the goal to be achieved is making a vertical jumping mechanism of the robot to become more synchronized. Therefore, multivariable control will be used as a method to distribute overload for each actuator on the same joint so that actuator can be more synchronized. Finally, multivariable control has a positive effect in which the success rate of the vertical jumping mechanism is about 80%, and the robot managed to hover on the air for about 7-9 ms.