The Development of Dance Movement in Humanoid Robot Dancing

ERISA

Novian Fajar Satria, Eko Henfri Binugroho, Ridhan Hafizh Chairussy, Dwi Kurnia Basuki

and Bianca Surya Nobelia

Politeknik Elektronika Negeri Surabayaa, Jl. Raya ITS, Kampus PENS, Surabaya, Indonesia

Keywords: ERISA, Humanoid Robot Dancing, Blender Software.

Abstract: Robots have become an important part of human life today, especially with today's rapid and modern

technological developments. One of them is a type of humanoid robot that has been developed from time to

time with various types, shapes and sizes. ERISA is the name of a humanoid robot that has the ability to

perform dance moves and can also follow the accompaniment of music. In making the desired dance

movement takes a long time, this is because the process in making it is still manual for each desired movement,

namely trial and error. In this research using Blender software to answer these problems, where the Blender

software displays a 3D design model of the humanoid robot ERISA which was made first using Autodesk

Inventor Professional CAD software and then converted to Blender software. The parameters used in this

Blender software are the joints in the 3D design of the ERISA robot model which is a representation of the

servo motor actuator. By adjusting the position of each joint and the resulting angle value in the Blender

software, the desired movement can be carried out. The process mechanism is the result of the angle data

obtained at each joint in the Blender software and then converted into a pwm value which is entered into the

servo motor to drive it. The results obtained in this research test are that there is an error of 3.25% from the

accuracy of the angle value issued in the Blender software with the angle value on the ERISA robot when

performing the same dance movement.

1 INTRODUCTION

At this time, robots are not stranger anymore and have

been used by developers to complete a profession.

Various types of robots have been developed, such as

mobile robots, drones, humanoid robots, manipulator

robots, et cetera. In this research, the topic of

humanoid robots is taken as a discussion. The

development of humanoid robots has become the

spotlight for researchers in the field of robotics.

Proven by educational institutions and technology

companies that have competed to show the results of

research on humanoid robots such as robots ASIMO

by Honda (Sakagami, 2002), T-HR3 by Toyota

(Toyota, 2017). One of the discussions in humanoid

robot research is related to the balancing control

system. 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.

The test results show the addition of the balance

control system gives ERISA robot capability of

walking on the sloped surface up to 10° (A.H.

Alasiry, 2018). The IMU (Measurement Inertia Unit)

is used as a tilt detection sensor and there are

accelerometer sensor and gyroscopic sensor that is

used in sensor fusion algorithm of the humanoid

robot. The test results show the addition of the sensor

fusion algorithm in reading data, gives the robot

capability of walking on the slope with maximum tilt

12° (Dian Alarmi, 2020).

Even in Indonesia, the discussion of humanoid

robots is still ongoing developing. The discussion is

supported by the Ministry of Education and Culture,

with The Indonesian Robot Contest (KRI) is held

every year. Humanoid The robot is in the Indonesian

Dance Robot Contest (KRSTI) division against

several robot teams from several colleges in

Indonesia. Every year the theme of the dance

constantly changes with the level of difficulty in the

dance moves, and the competition arena changes in

size and placement of start and stop zones robot. The

robot is programmed in such a way that it can dance

to follow a rhythm that matches the theme. To make

a motion, you need trial and errors that take a long

626

Satria, N., Binugroho, E., Chairussy, R., Basuki, D. and Nobelia, B.

The Development of Dance Movement in Humanoid Robot Dancing ERISA.

DOI: 10.5220/0010950100003260

In Proceedings of the 4th International Conference on Applied Science and Technology on Engineering Science (iCAST-ES 2021), pages 626-632

ISBN: 978-989-758-615-6; ISSN: 2975-8246

 2023 by SCITEPRESS – Science and Technology Publications, Lda. Under CC license (CC BY-NC-ND 4.0)

time because it only estimates the angle of the servo.

If it does not match the expected then, you need to try

again, and it has an impact on the longevity of the

servo motor and the time it takes quite a while.

Figure 1: ERISA robot in action.

In connection with this problem, it is motion

control for choreography using the powerful Blender

software was to make a 3D design of the robot then it

is given 2. Bones and the frames on each servo horn

will be moved to get the value from the servo, then

enter the value from the resulting choreography in

Blender software for creating motion, namely the

KEIL Microcontroller Development Kit (MDK-

ARM). This software itself is the software used on

Cortex-M, Cortex-R4, ARM7, and ARM9

processors. MDK Version 5 consists of MDK Core

and Software Packs. Both are central to the processor

(Integrated Development Environment) KEIL IDE

Vision 5 using C/C++ language or assemblies.

1.1 ERISA Robot Construction

The ERISA robot is designed with 29 DoF servo

motors arranged on an aluminum frame, PLA +, and

using an ARM type microcontroller as the main

control system. The details will be explained below.

1.1.1 Mechanical Design

The ERISA robot design has 29 DoF consisting of the

head, body, hands, and feet, as shown in table 1.

Figure 2 shows the front and side view of the robot

design. The design is made using software Inventor,

and the manufacturing process uses CNC machines

for aluminium and 3D machines print for PLA+, and

most robot joints use motor servo with the type is

Dynamixel MX-28.

Table 1: DoF Part Detail on ERISA Robot.

o Body of Part Amount DoF

1 Head 3 (

)

2 Stomach 1 (Stomach)

3 Waist 1 (Wais

)

4 Hand

6 (Shoulder)

2 (Elbow)

4 (Wris

)

5 Feet

6 (Waist)

2 (Knee)

4 (Ankles)

Total Number of DoF 29 DoF

(a) (b)

Figure 2: (a) Front View Robot Design, (b) Side View.

1.1.2 Electrical Design

To control all the performance, the ERISA robot uses

an STM32F407VGT microcontroller with a clock

frequency of up to 168MHz. This primary control is

used starting from kinematic calculations, sensor

access and communication. To be able to drive all

these servos, a microcontroller is needed as a logic

controller. Microcontroller acts like a human brain

because it can give commands to the servo to rotate.

In its use, the microcontroller will process the

commands given by the programmer and then execute

them into servo movements.

Figure 3: Electrical System Diagram of ERISA.

1.1.3 Block Diagram Process

In figure 4 is a process about the process of making

movement on the robot, in the Autodesk Inventor

software a design is made from the robot, then the

The Development of Dance Movement in Humanoid Robot Dancing ERISA

627

design results from the Autodesk Inventor are

imported into the Blender software to make a robot

motion simulation by giving bones in each joint, then

the value from the servo is taken to be entered into

Keil software.

Figure 4: Block Diagram Process.

2 CONTROL SYSTEM DESIGN

2.1 Kinematic

There are two types of kinematics applied to the

ERISA robotic motion system: forward kinematics

and reverse kinematics. This advanced kinematics is

used to control the movement of the hand servo. In

comparison, inverse kinematics is used to control the

movement of the legs. This inverse kinematic system

is modelled on each robot's leg, where the hip is used

as the base and the ankle as the end effector. This

inverse kinematic uses 6 DoF in this inverse

kinematic, input conditions from the ankle, X, Y, Z,

and Heading Coordinates.

(a) (b)

Figure 5: (a) Isometric Visible Kinematic Model, (b)

Kinematic Model Top View [3].

2.2 Choreography Making

Blender is a 3-dimensional (3D) processing software

for creating 3D animations, which can be run on

Windows, Macintosh and Linux. Blender is also the

same as 3D software in general, such as 3DS Max,

Autodesk Maya and Lightwave. Their fundamental

differences include work projects in Blender that can

be done in almost all other commercial 3D software.

The appearance can be adjusted at will, has the

rigidify feature that makes it easy to make motions in

3D designs (James Chronister, Edition 4).

The armature is a framework used to change the

shape of the mesh. It can be used to create characters,

suspensions on cars and much more. In making the

choreography, to make bones and skeletons in the

ERISA robot design, which uses the Blender

software.

Figure 6: Blender Software Version 2.82.

3 RESULT

In this section is the result of making motion robot

motion in Blender software.

3.1 Simulation Information

Figure 7 below is a condition where the robot is first

turned on (SetPos). It is assumed that all values are

zero with the SetPos. The robot above has 29 DoF,

which for convenience is labelled on each servo joint

to make it easier to operate.

The Image below in figure 8 is a label to make it

easier to make a choreography.

Information:

1. Right Hand Servo 1 (T.KN-1)

If you want to move the joint (T.KN-1) outward

away from the robot body, then the value entered

is positive.

2. Right Hand Servo 2 (T.KN-2)

If you want to move the joint (T.KN-2) outward

away from the robot body, then the value entered

is positive.

3. Right Hand Servo 3 (T.KN-3)

If you want to move the joint (T.KN-3) outward

away from the robot body, then the value entered

is positive.

4. Right Hand Servo 4 (T.KN-4)

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Figure 7: Robot Initial Position Front View.

Figure 8: Joint Robot Description.

If you want to move the joint (T.KN-4) outward

away from the robot body, then the value entered

is positive.

5. Right Hand Servo 5 (T.KN-5)

If you want to move the joint (T.KN-5) outward

away from the robot body, the value entered is

positive.

6. Right Hand Servo 6 (T.KN-6)

If you want to move the joint (T.KN-6) forward,

the value entered is positive.

7. Servo Head 1 (Kpl-1)

If you want to move the joint (Kpl-1) to the right,

the value entered is positive.

8. Servo Head 2 (Kpl-2)

If you want to move the joint (Kpl-2) to the right,

the value entered is positive.

9. Servo Head 3 (Kpl-3)

If you want to move the joint (Kpl-3) downwards,

the value entered is positive.

10. Left Hand Servo 1 ( T.KR-1)

If you want to move the joint (T.KR-1) outward

away from the robot body, then the value entered

is positive.

11. Left Hand Servo 2 ( T.KR-2)

If you want to move the joint (T.KR-2) outward

away from the robot body, the value entered is

positive.

12. Left Hand Servo 3 ( T.KR-3)

If you want to move the joint (T.KR-3) outward

away from the robot body, then the value entered

is positive.

13. Left Hand Servo 4 ( T.KR-4)

If you want to move the joint (T.KR-4) outward

away from the robot body, the value entered is

positive.

14. Left Hand Servo 5 ( T.KR-5)

If you want to move the joint (T.KR-5) outward

away from the robot body, the value entered is

positive.

15. Left Hand Servo 6 ( T.KR-6)

If you want to move the joint (T.KR-6) forward,

the value entered is positive.

16. Body 1

If you want to move the Body 1 joint to the right,

then the value entered is positive.

17. Body 2

If you want to move the Body 2 joint to the right,

then the value entered is positive.

18. Heading 1

If you want to move the joint heading one

outwards, the value entered is positive.

19. Heading 2

If you want to move the joint heading two

outwards, the value entered is positive.

Meanwhile, for the legs, using inverse kinematic to

make the legs of robot moving. The x-axis is for

forwarding, the y-axis is for upwards, and the z-axis

is for the robot's tilt. To make a simulation using

Blender software, one of the features in the Blender

software is used with the name timeline, which

contains a keyframe where we move or rotate the

robot joint and then lock it in the desired position.

The Development of Dance Movement in Humanoid Robot Dancing ERISA

629

Figure 9: Timeline in software Blender.

3.2 Opening Prayer Movement

The opening prayer movement is a respectful gesture

to start a dance. In this opening prayer, it starts from

frames 50 to 70

Figure 10: Opening Prayer Movement.

Table 2: Prayer Movement Opening the body, hands and

head on a 70 Frame.

Joint Value (Deegre) Joint

Value

(

Dee

)

T.KN-1 45 T.KR-1 45

T.KN-2 -10 T.KR-2 -10

T.KN-3 -45 T.KR-3 -45

T.KN-4 0 T.KR4 0

T.KN-5 -10 T.KR-5 -10

T.KN-6 100 T.KR-6 100

Heading 1 0 Kpl-1 0

Heading 2 0 Kpl-2 0

Body 1 0 Kpl-3 20

Body 2 0

Table 3: Opening Prayer Movement on the leg 50

to 70

legs of the frame.

Axis Value (cm) Axis Value (cm)

X Ri

0X Lef

11.5

Y Ri

0Y Lef

3.3

Z Ri

3.5 Z Lef

3.3 Closing Prayer Movement

The closing prayers is a respectful gesture to end a

dance. This movement is the last movement of the

simulation in the Blender software, it starts from

frames 280 to 290

Figure 11: The Closing Prayer Movement on the 280

Frame.

Table 4: Closing Prayer Movement Data on Body, Hands

and Head Frame to 280.

Joint

Value

(Dee

re)

Joint

Value

(Dee

re)

T.KN-1 90 T.KR-1 10

T.KN-2 0 T.KR-2 0

T.KN-3 0 T.KR-3 0

T.KN-4 90 T.KR-4 90

T.KN-5 10 T.KR-5 10

T.KN-6 60 T.KR-6 90

Heading 1 0 Kpl-1 0

Heading 2 0 Kpl-2 0

Body 1 0 Kpl-3 0

Body 2

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Table 5: Closing Prayer Movemnt Data at the Foot of

Frames 270 to 280.

Axis Value (cm) Axis Value (cm)

0 X Lef

0 Y Lef

3.3

Z Ri

3.5 Z Lef

Figure 12: The Closing Prayer Movement on the 290

Frame.

Table 6: Closing Prayer Movement Data on Body, Hands

and Head Frame to 290.

Joint

Value

(Dee

re)

Joint

Value

(Dee

re)

T.KN-1 45 T.KR-1 45

T.KN-2 -10 T.KR-2 -10

T.KN-3 -45 T.KR-3 -45

T.KN-4 0 T.KR4 0

T.KN-5 -10 T.KR-5 -10

T.KN-6 100 T.KR-6 100

Heading

0 Kpl-1 0

Heading

0 Kpl-2 0

Body 1 0 Kpl-3 20

Body 2 0

Table 7: Closing Prayer Movement Data at the Foot of

Frames 280 to 290.

Axis Value(cm) Axis Value(cm)

X Ri

8 X Lef

Y Ri

3.3 Y Lef

Z Ri

0 Z Lef

3.5

The following is a summary comparison of the

values entered on the Keil MDK ARM and the direct

values taken one of the variation movement is

executed on the robot. To calculate the error in the

table below use the formula:

Error = |(input value– output value) / input value

)|*100%

Table 8: Servo Error Value in Variation Movement 1.

Servo Input

value

Output

value

Error

T.KN-1 90 86 4.4%

T.KN-2 60 57 5%

T.KN-3 -70 - 67 4.2 %

T.KN-4 5 5 0%

T.KN-5 -30 -31 3%

T.KN-6 95 93 2.1%

T.KR-1 -90 -88 2.2%

T.KR-2 -70 -67 4.2%

T.KR-3 55 57 3.6%

T.KR-4 -5 -5 0%

T.KR-5 -30 -28 6.6%

T.KR-6 85 80 5.8%

Kpl-3 -30 -32 1.5%

Avera

e Erro

3.2 %

Table 9: Servo Error Value in Variation Movement 2.

Servo Input

value

Output

value

Error

T.KN-1 70 73 4.2%

T.KN-2 55 56 1.8%

T.KN-3 -90 - 87 3.3%

T.KN-4 25 24 4%

T.KN-5 -50 -51 2%

T.KN-6 85 84 1.1%

T.KR-1 -75 -78 4%

T.KR-2 -62 -63 1.6%

T.KR-3 90 88 2.2%

T.KR-4 -35 -37 5.7%

T.KR-5 -50 -52 4%

T.KR-6 79 77 2.5%

Kpl-3 -45 -42 6.7%

Avera

e Erro

3.3%

In the table above from table 8 and table 9, it can be

seen that the error values for each servo on the robot

are mostly not in accordance with the input values,

and the test results of the 2 variations of the

movement, an average error of 3.25% is generated.

Several factors causing the discrepancy of the output

value on the robot, one of which is the servo's age

which is quite long and can also be due to human error

when measuring the output value of the robot's servo.

The other factor can be in terms of mechanics and can

The Development of Dance Movement in Humanoid Robot Dancing ERISA

631

also be in terms of hardware, for example too tight or

too loose the bolts installed on the robot can affect the

movement of the servo

4 CONCLUSION

Based on the results of the experiment both in

simulation using the Blender software in determining

and making dance movements with the output in the

form of degrees of each joint which is then

implemented and proven by entering the data after

being converted into pwm data to drive the servo

motor, there are differences that have either a slight

or a slight difference large with an average error of

3.25%. Using Blender software can reduce the time

in making dance moves and can immediately see the

results and forms of movements made.

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