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.
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- UT-Faculty of Engineering [4163]