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All Journal IAES International Journal of Robotics and Automation (IJRA) Jurnal Informatika SAINS DAN MATEMATIKA Jurnal technoscientia IJID (International Journal on Informatics for Development) Indonesian Journal of Electrical Engineering and Computer Science JURNAL TEKNOLOGI TECHNOSCIENTIA
Jazi Eko Istiyanto
Gadjah Mada University
Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Computer Science & IT Earth & Planetary Sciences Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mathematics Mechanical Engineering

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Humanoid robot balance control system during backward walking using linear quadratic regulator Arsyi, Muhammad; Dharmawan, Andi; Sumbodo, Bakhtiar Alldino Ardi; Auzan, Muhammad; Istiyanto, Jazi Eko; Natan, Oskar
IAES International Journal of Robotics and Automation (IJRA) Vol 14, No 3: December 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v14i3.pp320-330

Abstract

Humanoid robots are designed to replicate human activities, including tasks in hazardous environments. However, maintaining balance during backward walking remains a significant challenge due to center of mass (CoM) shifts beyond the support polygon and limited knee joint motion. This study proposes a control strategy that integrates a linear quadratic regulator (LQR) with optimized walking patterns to enhance dynamic stability. The approach combines LQR-based control with CoM trajectory planning to ensure safe and stable backward walking. The methodology includes inverse kinematics for generating walking patterns and the use of Inertial Measurement Unit (IMU) sensors to estimate the CoM trajectory. LQR parameters were tuned through simulation to improve responsiveness to disturbances. Evaluation metrics focused on CoM deviation, rise time, settling time, and overshoot. Experimental results demonstrate that the proposed LQR system effectively maintains the CoM within 5% of the support polygon boundary. The system achieved rise times under one second and settling times below two seconds, while minimizing pitch and roll overshoots. Compared to proportional control, the proposed method significantly improves stability and reduces the risk of falling. This research advances control strategies for humanoid robots, contributing to improved mobility and operational safety. Moreover, it supports Sustainable Development Goal (SDG) 9 by promoting innovation in intelligent robotic systems that can assist in complex or high-risk environments.
Co-Authors Adhi Susanto Afiahayati Afiahayati, Afiahayati Andi Dharmawan Aris Puji Widodo Arsyi, Muhammad Aufaclav Zatu Kusuma Frisky Auzan, Muhammad Bakhtiar Alldino Ardi Sumbodo Bambang Sugiantoro Edhy Sutanta (Jurusan Teknik Informatika IST AKPRIND Yogyakarta) F Soesianto Freska Rolansa, Freska Herri Setiawan Kusrini Kusrini Oskar Natan Purwo Santoso Retantyo Wardoyo Sri Hartati Wiwik Handayani