ERISA Humanoid Robot Balance System Using 2D Axis Parameters (Pitch and Roll)

摘要

The Indonesian Robot Contest (KRI) is a design and engineering competition in the field of robotics. One of the competition divisions is KRSTI or Indonesian Dance Robot Contest. ERISA is a humanoid robot developed by PENS students to participate in such contests. One of the assessment points of the contest is the stability of the robot’s balance in each zone, where each zone has different field characteristics, which makes the robot prone to falling. This paper focuses on creating a balance system for the ERISA humanoid robot. In maintaining this balance, a tilt detection system is needed for the robot’s position and a balancing system when the robot is about to fall. Using the slope value, the mechanical robot servo control equation is manipulated using PD system. Therefore, the robot independently shifts its position in reverse to the direction of fall. The degree of the inclined surface is set to vary from 2° up to the maximum capability of the robot. The test results show that the addition of the control system balance gives the ERISA robot the ability to walk on an inclined surface up to 10° for the pitch parameter and 6° for the roll parameter.