Multisensor automatic balancing model for darwin-OP on uneven terrain

Muhamad Khuzaifah Ismail, Meng Cheng Lau, Mohammad Faidzul Nasrudin, Haslina Arsha

Research output: Contribution to journalArticle

Abstract

The walking of a humanoid robot needs to be robust enough in order to maintain balance in a dynamic environment especially on uneven terrain. A walking model based on multi-sensor is proposed for a Robotis DARwIn-OP robot named as Leman. Two force sensitive resistor (FSRs) on both feet equipped to Leman to estimate the zero moment point (ZMP) alongside with accelerometer and gyrosensor embedded in the body for body state estimation. The results show that the FSRs can successfully detect the unbalanced walking event if the protuberance exists on the floor surface and the accelerometer and gyrosensor (Inertial Measurement Unit, IMU) data are recorded to tune the balancing parameter in the model.

Original languageEnglish
Pages (from-to)181-188
Number of pages8
JournalPertanika Journal of Science and Technology
Volume25
Issue numberS6
Publication statusPublished - 1 Jun 2017

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walking
Accelerometers
Resistors
Walking
robots
accelerometer
Robots
Units of measurement
State estimation
sensors (equipment)
Foot
Sensors
sensor

Keywords

  • Balance
  • Humanoid
  • Multisensor
  • Walking model
  • ZMP

ASJC Scopus subject areas

  • Computer Science(all)
  • Chemical Engineering(all)
  • Environmental Science(all)
  • Agricultural and Biological Sciences(all)

Cite this

Multisensor automatic balancing model for darwin-OP on uneven terrain. / Ismail, Muhamad Khuzaifah; Lau, Meng Cheng; Nasrudin, Mohammad Faidzul; Arsha, Haslina.

In: Pertanika Journal of Science and Technology, Vol. 25, No. S6, 01.06.2017, p. 181-188.

Research output: Contribution to journalArticle

Ismail, Muhamad Khuzaifah ; Lau, Meng Cheng ; Nasrudin, Mohammad Faidzul ; Arsha, Haslina. / Multisensor automatic balancing model for darwin-OP on uneven terrain. In: Pertanika Journal of Science and Technology. 2017 ; Vol. 25, No. S6. pp. 181-188.
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