scholarly journals Gyroscope and Accelerometer Sensor on the Lanange Jagad Dance Robot Balance System

2020 ◽  
Vol 2 (2) ◽  
pp. 51
Author(s):  
Ahmad Sopi Samosir ◽  
Nuryono Satya Widodo
Keyword(s):  
Control System ◽  
Success Rate ◽  
Humanoid Robot ◽  
Balance Control ◽  
Humanoid Robots ◽  
Filter Method ◽  
Accelerometer Sensor ◽  
Balance System ◽  
Kalman Filter Method ◽  
Gyroscope Sensor

In performing dance moves, humanoid robots are expected to move flexibly and not easily fall during dance moves. To reduce the risk of robots falling while performing dance moves, a balance control system using a gyroscope sensor and accelerometer from the MPU6050 is controlled through the Arduino MEGA 2560 PRO. Robots that have balance control, are able to maintain stability in track conditions that have a certain degree of slope. This balance control system uses the Kalman filter method for processing data from the gyroscope sensor and accelerometer in order to reduce the noise that occurs during the robot's balance process. From the results of the test, the percentage of the success rate of robots in rest was 88.8%, the percentage of success when the robot was running was 86.6%, and the percentage of success when the robot was walking with dancing was 75%. From the results of all tests, humanoid robot has a percentage of 83.4% after adding a balance control system and when the humanoid robot does not use balance control will only produce a percentage of success rate of 48.4%.

scholarly journals Posture control for humanoid robot on uneven ground and slopes using inertial sensors

2020 ◽  
Vol 12 (9) ◽  
pp. 168781402095718
Author(s):  
Shu-Yin Chiang ◽  
Jin-Long Wang
Keyword(s):  
Humanoid Robot ◽  
Inertial Sensors ◽  
Balance Control ◽  
Gait Pattern ◽  
Posture Control ◽  
Balance System ◽  
Open Platform ◽  
Mean Filter ◽  
Stable Gait ◽  
Control Balance

We designed a stable gait pattern and posture-control balance system to enable a biped humanoid robot to maintain balance and avoid falling when walking on uneven ground or slopes. In this study, we first examined the problem of gait generation and the balance of a humanoid robot and then proposed a posture-control balance system using the inertial sensors of a gyroscope and accelerometer to sense the tilt angle of the robot according to the environment. To process the data obtained by the sensors, the mean filter was applied to eliminate the noise in the data, and the complementary filter was used to properly combine the data from both the gyroscope and accelerometer. The system further modifies the gait and posture of the robot based on the results obtained through a fuzzy system to attain the angle of balance and stabilization. A robot with an open platform was used to test the implementation of the proposed algorithm, and the experimental results demonstrated that the robot could successfully maintain balance when walking uphill and downhill on uneven surfaces. Moreover, because only one parameter needs to be adjusted when applying the balance-control system, the system can be easily extended to any related humanoid robot.

An Optimized Design of Humanoid Robot Distributed Control System

2014 ◽  
Vol 541-542 ◽  
pp. 1043-1048 ◽  
Author(s):  
Zhe Qiu ◽  
Lei Zhang ◽  
Yang Tian ◽  
Xiao Kai Feng ◽  
Sheng Yuan Zhang
Keyword(s):  
Control System ◽  
Distributed Control ◽  
Humanoid Robot ◽  
Biped Robot ◽  
Modular Function ◽  
Humanoid Robots ◽  
Optimized Design ◽  
Distributed Control System ◽  
Embedded Processor ◽  
System Designs

A distributed control system applied to small humanoid robots is designed in this paper, using ARM embedded processor and modular function approaches. The system designs plenty of hardware circuits to promote operability of system and reduce difficulties in development. This design solves the problems of high cost, low scalability, weak autonomy of small humanoid robot control system, providing a reliable experimental platform for further study. The feasibility of this control system will be verified through walking experiment of biped robot.

Design and Implementation of the Control System for Two-Wheeled Self-Balancing Vehicles

2012 ◽  
Vol 588-589 ◽  
pp. 1606-1610 ◽  
Author(s):  
Min Dai ◽  
Jian Wang ◽  
Xiao Gang Sun ◽  
Shuang Hu ◽  
Jun Xiang Jia
Keyword(s):  
Control System ◽  
Pid Controller ◽  
Closed Loop ◽  
Low Cost ◽  
Control System Design ◽  
Hardware Platform ◽  
Accelerometer Sensor ◽  
Design And Implementation ◽  
Avr Mcu ◽  
Gyroscope Sensor

A control-system design for a two-wheeled self-balancing vehicle is discussed in this paper. We have developed a low-cost hardware platform based on AVR MCU, accelerometer sensor and gyroscope sensor, for which the critical circuits, such as sensors and motor driver, are introduced. The control strategy operates by two steps: a) securing the real-time vehicle posture by integrating the data from accelerometer and gyroscope sensors; b) using a closed-loop PID controller to keep the vehicle balanced. This control system is applied to a prototype two-wheeled self-balancing vehicle, whose performance has turned out to be a satisfaction.

scholarly journals Evaluation of Complementary Filter Method in Increasing the Performance of Motion Tracking Gloves for Virtual Reality Games

2021 ◽  
Author(s):  
Fairus Zuhair Azizy Atoir ◽  
Aji Gautama Putrada ◽  
Rizka Reza Pahlevi
Keyword(s):  
Virtual Reality ◽  
Video Games ◽  
Error Rate ◽  
Motion Tracking ◽  
Hand Movements ◽  
Filter Method ◽  
Accelerometer Sensor ◽  
Complementary Filter ◽  
Gyroscope Sensor ◽  
Exchange Data

In the use of Virtual Reality-based video games, users need additional devices to interact, one of which is a Motion Tracking Glove. The Motion Tracking Glove is one of the enhancements that users can use to interact with objects in VR video games. To get the angle value, an accelerometer sensor is used in the MPU6050 module. However, the problem that arises is the accuracy of the sensor because VR demands a low error rate. The purpose of this study is to improve the accuracy of the angular value of the accelerometer sensor value with a complementary filter. Complementary filters can increase the accuracy of the accelerometer sensor by combining its value with the gyroscope sensor value. The Motion Tracking Glove is built using the Arduino Nano and the MPU6050 module to capture angles that move according to hand movements, to connect and exchange data to the main VR device, the Motion Tracking Glove using the Bluetooth module. The results are RMSE 0.6 and MAPE 2.5% with a static Motion Tracking Glove position without movement. In sending Motion Tracking Glove data using the Bluetooth module, the resulting delay time when sending ranges from 0.1 second to 0.4 seconds by trying to move the Motion Tracking Glove from 0 degrees to 90 degrees and back to 0 degrees.

scholarly journals A Robust Balance-Control Framework for the Terrain-Blind Bipedal Walking of a Humanoid Robot on Unknown and Uneven Terrain

Sensors ◽  
2019 ◽  
Vol 19 (19) ◽  
pp. 4194 ◽  
Author(s):  
Hyun-Min Joe ◽  
Jun-Ho Oh
Keyword(s):  
Humanoid Robot ◽  
Balance Control ◽  
Humanoid Robots ◽  
Bipedal Walking ◽  
Leg Length ◽  
Zero Moment Point ◽  
Uneven Terrain ◽  
Control Framework ◽  
Zero Moment ◽  
Capture Point

Research on a terrain-blind walking control that can walk stably on unknown and uneven terrain is an important research field for humanoid robots to achieve human-level walking abilities, and it is still a field that needs much improvement. This paper describes the design, implementation, and experimental results of a robust balance-control framework for the stable walking of a humanoid robot on unknown and uneven terrain. For robust balance-control against disturbances caused by uneven terrain, we propose a framework that combines a capture-point controller that modifies the control reference, and a balance controller that follows its control references in a cascading structure. The capture-point controller adjusts a zero-moment point reference to stabilize the perturbed capture-point from the disturbance, and the adjusted zero-moment point reference is utilized as a control reference for the balance controller, comprised of zero-moment point, leg length, and foot orientation controllers. By adjusting the zero-moment point reference according to the disturbance, our zero-moment point controller guarantees robust zero-moment point control performance in uneven terrain, unlike previous zero-moment point controllers. In addition, for fast posture stabilization in uneven terrain, we applied a proportional-derivative admittance controller to the leg length and foot orientation controllers to rapidly adapt these parts of the robot to uneven terrain without vibration. Furthermore, to activate position or force control depending on the gait phase of a robot, we applied gain scheduling to the leg length and foot orientation controllers, which simplifies their implementation. The effectiveness of the proposed control framework was verified by stable walking performance on various uneven terrains, such as slopes, stone fields, and lawns.

scholarly journals Perancangan Reaction Wheel Inverted Pendulum Sebagai Alat Peraga Sistem Kontrol Berbasis Sistem Kontrol PID

2020 ◽  
Vol 17 (2) ◽  
pp. 38-41
Author(s):  
Roche Alimin ◽  
Joshua Tandio ◽  
Handry Khoswanto
Keyword(s):  
Control System ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Physical Design ◽  
Test Results ◽  
Reaction Wheel ◽  
Research Project ◽  
Balance System ◽  
Mechanical Part ◽  
Teaching Aids

A control system will be easier to understand if demo devices are available that can be used as learning media. Reaction wheel inverted pendulum is an under-actuation device so that the existence of a controller is absolutely necessary. This will be very interesting if used as a teaching aid of a control system. One application of this reaction wheel inverted pendulum is for the humanoid robot balance system. In this research project the physical design of the teaching aids and the design of the controller are carried out. The design starts from designing mechanical part first, starting from the dimensions and shape of the tool to the needs of the motor. Furthermore, a controller is designed that can balance the device automatically. The controller used is based on Arduino. The test results show that the reaction wheel inverted pendulum demo device can work quite well even though there is some drawback.

scholarly journals The Path Direction Control System for Lanange Jagad Dance Robot Using the MPU6050 Gyroscope Sensor

2021 ◽  
Vol 1 (1) ◽  
pp. 27-40
Author(s):  
Ibnu Rifajar ◽  
Abdul Fadlil
Keyword(s):  
Control System ◽  
Success Rate ◽  
Power Supply ◽  
The Road ◽  
Battery Power ◽  
Supply Condition ◽  
Direction Control ◽  
Path Direction ◽  
Gyroscope Sensor ◽  
Yaw Angle

The ability to walk straight on a dance robot is very important considering that in competitions, dance robots are required to be able to walk through several zones starting from the starting zone and ending with the closed zone. Therefore, a control system is needed in the Lanange Jagad dance robot so that the robot can control the direction of its walking motion and reduce errors in dance motion while walking on the dance robot. This control system uses a reading value based on the orientation of the rotating motion on the yaw angle axis on the MPU6050 gyroscope sensor which will later be used as a corrector for dance robots when performing various dance movements while walking in the competition arena. From the results of the overall test of the Lanange Jagad dance robot after adding the road direction control system, the percentage of the success rate in the battery power supply condition is 12 volts to 12.6 volts by 100% with the greater the battery power supply, the error in the robot's final angle average to The starting angle of the robot is getting smaller and the percentage of the success rate at the slope of the 0o to 4o race arena is 93.3%. With the tilted race arena, the error in the mean error of the robot's final angle to the starting angle of the robot is also greater, so it can be concluded that the robot can be controlled direction of walking and can walk straight to the finish in the closed zone.

A Robust Walking Control System of Humanoid Robot

ROBOT ◽  
2010 ◽  
Vol 32 (4) ◽  
pp. 484-490
Author(s):  
Lun XIE ◽  
Zhiliang WANG ◽  
Chong WANG ◽  
Jiaming XU
Keyword(s):  
Control System ◽  
Humanoid Robot ◽  
Walking Control

Humans and humanoids

2018 ◽  
Author(s):  
Giorgio Metta
Keyword(s):  
Humanoid Robot ◽  
Robot Vision ◽  
Physical Space ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Biologically Inspired ◽  
Robot Interaction ◽  
Humanoid Robotics ◽  
Biomimetic Robot ◽  
Compliant Actuation

This chapter outlines a number of research lines that, starting from the observation of nature, attempt to mimic human behavior in humanoid robots. Humanoid robotics is one of the most exciting proving grounds for the development of biologically inspired hardware and software—machines that try to recreate billions of years of evolution with some of the abilities and characteristics of living beings. Humanoids could be especially useful for their ability to “live” in human-populated environments, occupying the same physical space as people and using tools that have been designed for people. Natural human–robot interaction is also an important facet of humanoid research. Finally, learning and adapting from experience, the hallmark of human intelligence, may require some approximation to the human body in order to attain similar capacities to humans. This chapter focuses particularly on compliant actuation, soft robotics, biomimetic robot vision, robot touch, and brain-inspired motor control in the context of the iCub humanoid robot.

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