Sistem Keseimbangan Robot ERISA Pada Bidang Miring Menggunakan Kontrol PD dan Sensor Fusion

The world of robotics is currently developing; many robots are created to help humans work in carrying out daily activities. Various types of robots have been created, one of which is a type of robot that resembles a human body (humanoid). Humanoid robots are developing in many countries, including Indonesia. In its development, the walking technique is a major factor in making humanoid robots. Humanoid robots have the ability to walk like humans by balancing their body positions while walking, so they don’t fall. In maintaining this balance, a tilt detection system for the robot’s position and a balancing system is needed when the robot is about to fall. So, to overcome this problem, implementation is carried out using the sensor fusion method at the output of the sensors that are used to minimize noise or interference with the sensor output value. The accuracy of the sensor output value on the position angle tilt detector can help the robot provide a balancing act. By implementing a PD control system and sensor fusion consisting of a Kalman filter and a complementary filter, the robot was successfully carried up and down the plane to a maximum slope of 12 °.Dunia robotika saat ini tengah berkembang, banyak robot diciptakan untuk membantu pekerjaan manusia dalam melakukan kegiatan keseharian. Berbagai jenis robot telah diciptakan, salah satunya jenis robot menyerupai tubuh manusia (humanoid). Robot humanoid berkembang di banyak negara termasuk di Indonesia. Dalam pengembanganya, teknik berjalan merupakan faktor utama dalam pembuatan robot humanoid. Robot humanoid memiliki kemampuan berjalan layaknya manusia dengan menyeimbangkan posisi tubuh saat berjalan agar tidak terjatuh. Dalam menjaga keseimbangan tersebut, diperlukan sistem pendeteksi kemiringan posisi robot dan sistem penyeimbang saat robot akan jatuh. Maka untuk mengatasi permasalahan tersebut, dilakukan implementasi dengan menggunakan metode sensor fusion pada keluaran sensor-sensor yang digunakan dalam meminimalisir noise atau gangguan nilai keluaran sensor. Sehingga keakurasian nilai keluaran sensor pada pendeteksi kemiringan sudut posisi dapat membantu robot dalam memberikan aksi penyeimbangan. Dengan mengimplementasikan sistem kontrol PD dan sensor fusion yang terdiri dari Kalman filter dan complementary filter, robot berhasil dijalankan menaiki dan menuruni bidang hingga kemiringan maksimal 12°

IMPLEMENTATION OF A LOCALIZATION-ORIENTED HRI FOR WALKING ROBOTS IN THE ROBOCUP ENVIRONMENT

This paper presents the design and implementation of a human–robot interface capable of evaluating robot localization performance and maintaining full control of robot behaviors in the RoboCup domain. The system consists of legged robots, behavior modules, an overhead visual tracking system, and a graphic user interface. A human–robot communication framework is designed for executing cooperative and competitive processing tasks between users and robots by using object oriented and modularized software architecture, operability, and functionality. Some experimental results are presented to show the performance of the proposed system based on simulated and real-time information. </jats:p

The walking robot project

A walking robot was designed, analyzed, and tested as an intelligent, mobile, and a terrain adaptive system. The robot's design was an application of existing technologies. The design of the six legs modified and combines well understood mechanisms and was optimized for performance, flexibility, and simplicity. The body design incorporated two tripods for walking stability and ease of turning. The electrical hardware design used modularity and distributed processing to drive the motors. The software design used feedback to coordinate the system and simple keystrokes to give commands. The walking machine can be easily adapted to hostile environments such as high radiation zones and alien terrain. The primary goal of the leg design was to create a leg capable of supporting a robot's body and electrical hardware while walking or performing desired tasks, namely those required for planetary exploration. The leg designers intent was to study the maximum amount of flexibility and maneuverability achievable by the simplest and lightest leg design. The main constraints for the leg design were leg kinematics, ease of assembly, degrees of freedom, number of motors, overall size, and weight

Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation

This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the knee. The joints are impedance controlled to allow bidirectional mechanical interaction between the robot and the training subject. Evaluation measurements show that the device allows both a "pa- tient-in-charge" and "robot-in-charge" mode, in which the robot is controlled either to follow or to guide a patient, respectively. Electromyography (EMG) measurements (one subject) on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training. The possibilities and limitations to using the device as gait measurement tool are also shown at the moment position measurements are not accurate enough for inverse-dynamical gait analysis

Alternative model-building for the study of socially interactive robots

In this discussion paper, we consider the potential merits of applying an alternative approach to model building (Empirical Modelling, also known as EM) in studying social aspects of human-robot interaction (HRI). The first section of the paper considers issues in modelling for HRI. The second introduces EM principles, outlining their potential application to modelling for HRI and its implications. The final section examines the prospects for applying EM to HRI from a practical perspective with reference to a simple case study and to existing models

A novel plasticity rule can explain the development of sensorimotor intelligence

Grounding autonomous behavior in the nervous system is a fundamental challenge for neuroscience. In particular, the self-organized behavioral development provides more questions than answers. Are there special functional units for curiosity, motivation, and creativity? This paper argues that these features can be grounded in synaptic plasticity itself, without requiring any higher level constructs. We propose differential extrinsic plasticity (DEP) as a new synaptic rule for self-learning systems and apply it to a number of complex robotic systems as a test case. Without specifying any purpose or goal, seemingly purposeful and adaptive behavior is developed, displaying a certain level of sensorimotor intelligence. These surprising results require no system specific modifications of the DEP rule but arise rather from the underlying mechanism of spontaneous symmetry breaking due to the tight brain-body-environment coupling. The new synaptic rule is biologically plausible and it would be an interesting target for a neurobiolocal investigation. We also argue that this neuronal mechanism may have been a catalyst in natural evolution.Comment: 18 pages, 5 figures, 7 video