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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics IJOEM: Indonesian Journal of Elearning and Multimedia
Afrizal Mayub
University of Bengkulu
Computer Science & IT Education Electrical & Electronics Engineering Languange, Linguistic, Communication & Media Social Sciences Other

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Journal : International Journal of Electrical and Computer Engineering

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Center of Pressure Feedback for Controlling the Walking Stability Bipedal Robots using Fuzzy Logic Controller Afrizal Mayub; Fahmizal Fahmizal
International Journal of Electrical and Computer Engineering (IJECE) Vol 8, No 5: October 2018
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (2156.203 KB) | DOI: 10.11591/ijece.v8i5.pp3678-3696

Abstract

This paper presents a sensor-based stability walk for bipedal robots by using force sensitive resistor (FSR) sensor. To perform walk stability on uneven terrain conditions, FSR sensor is used as feedbacks to evaluate the stability of bipedal robot instead of the center of pressure (CoP). In this work, CoP that was generated from four FSR sensors placed on each foot-pad is used to evaluate the walking stability. The robot CoP position provided an indication of walk stability. The CoP position information was further evaluated with a fuzzy logic controller (FLC) to generate appropriate offset angles to be applied to meet a stable situation. Moreover, in this paper designed a FLC through CoP region's stability and stable compliance control are introduced. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size bipedal robot.
Co-Authors Fahmizal Fahmizal Fahmizal Fahmizal Henny Johan Leni Hendraini Ma’ruf Shidiq Nur Rohman Rosyid Oktiawati, Unan Yusmaniar Rendy Wikrama Wardana