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All Journal EMITTER International Journal of Engineering Technology
Wulandari Puspita Sari
Politeknik Elektronika Negeri Surabaya, Indonesia
Computer Science & IT

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Implementation and Integration of Fuzzy Algorithms for Descending Stair of KMEI Humanoid Robot Wulandari Puspita Sari; R. Sanggar Dewanto; Dadet Pramadihanto
EMITTER International Journal of Engineering Technology Vol 8 No 2 (2020)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24003/emitter.v8i2.535

Abstract

Locomotion of humanoid robot depends on the mechanical characteristic of the robot. Walking on descending stairs with integrated control systems for the humanoid robot is proposed. The analysis of trajectory for descending stairs is calculated by the constrains of step length stair using fuzzy algorithm. The established humanoid robot on dynamically balance on this matter of zero moment point has been pretended to be consisting of single support phase and double support phase. Walking transition from single support phase to double support phase is needed for a smooth transition cycle. To accomplish the problem, integrated motion and controller are divided into two conditions: motion working on offline planning and controller working online walking gait generation. To solve the defect during locomotion of the humanoid robot, it is directly controlled by the fuzzy logic controller. This paper verified the simulation and the experiment for descending stair of KMEI humanoid robot.
Co-Authors Dadet Pramadihanto R. Sanggar Dewanto