Analysis of Stability on the ERISA Humanoid Dance Robot

Bianca Surya Nobelia, Novian Satria, Eko Henfri Binugroho, Teuku Fatahillah

2022

Abstract

ERISA is a humanoid robot dancing developed by PENS students to participate in Indonesia Robot Contest (KRI) on the humanoid dancing robot division. One of the main assessments in this contest is to keep the robot stable until the finish zone. To analyze the stability of a humanoid robot, the Inertial Measurement Unit (IMU) sensor namely GY-952 is applied to detect the slope of the robot body. To determine the stability analysis variable of the robot, the Ground Projection of Center of Mass (GCoM) method is used by using the simplification of the Five Link Models. the ERISA robot starts to fall if there is an error approach around ± 40 mm. For future work, it is possible to apply it as feedback for a balance control system.

Paper Citation

in Harvard Style

Surya Nobelia B., Satria N., Henfri Binugroho E. and Fatahillah T. (2022). Analysis of Stability on the ERISA Humanoid Dance Robot. In Proceedings of the 5th International Conference on Applied Science and Technology on Engineering Science - Volume 1: iCAST-ES; ISBN 978-989-758-619-4, SciTePress, pages 182-187. DOI: 10.5220/0011738400003575

in Bibtex Style

@conference{icast-es22,
author={Bianca Surya Nobelia and Novian Satria and Eko Henfri Binugroho and Teuku Fatahillah},
title={Analysis of Stability on the ERISA Humanoid Dance Robot},
booktitle={Proceedings of the 5th International Conference on Applied Science and Technology on Engineering Science - Volume 1: iCAST-ES},
year={2022},
pages={182-187},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011738400003575},
isbn={978-989-758-619-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 5th International Conference on Applied Science and Technology on Engineering Science - Volume 1: iCAST-ES
TI - Analysis of Stability on the ERISA Humanoid Dance Robot
SN - 978-989-758-619-4
AU - Surya Nobelia B.
AU - Satria N.
AU - Henfri Binugroho E.
AU - Fatahillah T.
PY - 2022
SP - 182
EP - 187
DO - 10.5220/0011738400003575
PB - SciTePress