Optimization of CoM Against CoP to Improve The Balance of Humanoid Soccer Robot Abulkhair Rizvan Yahya, Anhar Risnumawan, Nofria Hanafi, Wildan Habibi Al-Fanan, Syahrul Febriansyah
Politeknik Elektronika Negeri Surabaya, Jl. Raya ITS, Keputih, Sukolilo, Surabaya, East Java 60111, Indonesia
Abstract
Humanoid soccer robot EROS often has difficulty in maintaining balance, which results in failure to complete tasks without falling. This research develops a balance control system using a load cell sensor to determine the position of the center of pressure (CoP) and PID control to adjust the position of the center of mass (CoM) of the robot to stay within the support polygon area generated by CoP. Tests were carried out on the forward movement with a step variation of 0 mm to 70 mm. The results show that the PID control system successfully keeps the CoM within safe stability limits, so that the robot can walk stably. This optimization proves the effectiveness of PID control in improving the balance of the humanoid robot during walking, allowing the robot to complete the task without falling.
Keywords: Humanoid Soccer Robot- PID Control System- Center of Mass (CoM)- Center of Pressure (CoP)- Support Polygon
