Balancing Control System for Humanoid Robot using Pressure Sensor

Novian Satria, Eko Binugroho, Ibrohim Robbaniy

2021

Abstract

Balancing the control system becomes one of the important topics in special robots is a humanoid robot. The sensors used for balance control mostly use the inertia measuring unit (IMU) sensor. The sensor can detect the value and level of the tilt, displacement, and gravity of the robot. By using the reference from the sensor data, the value of the data in the balance control system will be made to make the humanoid robot can walk and move in a balanced manner. Not only the IMU sensor can be used in the application for balance control, one of which is to use a pressure sensor. The working system of this sensor is the pressure force received from the sensor that will be used as a reference for the balance data values in the robot humanoid balance control system. So that the humanoid robot can adjust to the conditions of the road being passed while maintaining its balance and not falling. the pressure sensor will be placed on the foot of the humanoid robot foot as the pedestal and the reading of the tilt data each foot of the robot will be installed 2 pressure sensors to get the value of the slope data which is in the position of the direction forward and back when the humanoid robot moves and steps. Through a series of testing processes of the balance control system in the humanoid robot, it was found that the robot can maintain its equilibrium position in the incline to 15 degrees, and the average error value obtained from reading the data on the pressure sensor is 0.13%.

Paper Citation

in Harvard Style

Satria N., Binugroho E. and Robbaniy I. (2021). Balancing Control System for Humanoid Robot using Pressure Sensor. In Proceedings of the 4th International Conference on Applied Science and Technology on Engineering Science - Volume 1: iCAST-ES, ISBN 978-989-758-615-6, pages 1359-1364. DOI: 10.5220/0010965400003260

in Bibtex Style

@conference{icast-es21,
author={Novian Satria and Eko Binugroho and Ibrohim Robbaniy},
title={Balancing Control System for Humanoid Robot using Pressure Sensor},
booktitle={Proceedings of the 4th International Conference on Applied Science and Technology on Engineering Science - Volume 1: iCAST-ES,},
year={2021},
pages={1359-1364},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010965400003260},
isbn={978-989-758-615-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 4th International Conference on Applied Science and Technology on Engineering Science - Volume 1: iCAST-ES,
TI - Balancing Control System for Humanoid Robot using Pressure Sensor
SN - 978-989-758-615-6
AU - Satria N.
AU - Binugroho E.
AU - Robbaniy I.
PY - 2021
SP - 1359
EP - 1364
DO - 10.5220/0010965400003260