DESAIN KONTROL ROBOT HUMANOID MENGGUNAKAN METODE ZERO MOMENT POINT

Abstract

The robot is a mechanical device that can perform physical tasks, using either human supervision, or use a program that has been defined first (artificial intelligence). This study aims to apply the basic human movement to a humanoid robot. Zero Moment Point method on a humanoid robot is in need to get the stability of the robot while performing the movement. As long as the center point on the robot or call the zero point is still in the area when the robot feet in a straight line drag down, the robot will be in a state of balance. In this study testing the stability of the robot include the movement when sitting, standing, walking and turn right. Results obtained during testing is, the robot can perform each movement with balance without falling. The average time in taking to the robot stand is 3 seconds. While the average time on the travel when walking as far as 100cm is 8.48 seconds. While the average time the robot to turn in mileage is 3.77 seconds.