Development and Design of a Humanoid Robot to Allow Walking Naturally as Human Tsaqofi Muhammad Ishaq (a), Novian Fajar Satria (a), Endra Pitowarno (a), Rachmat Santoso (a), Dwi Kurnia Basuki (a)
(a) Politeknik Elektronika Negeri Surabaya
Sepuluh Nopember Institute of Technology, Jl. Raya ITS, Keputih, Kec. Sukolilo, Surabaya, Jawa Timur 60111
Abstract
The mechanical development of humanoid robots generally requires a flexible design to allow for unrestricted movement. Several simulation approaches were employed to ensure the viability of the new mechanical design, including stress analysis and inverse kinematic testing. Motion simulation was conducted using Blender, followed by real-world testing on the robot. The experiments demonstrate that the new leg design enables he robot to perform more complex motions. Stress analysis results indicate that the new components can support the robot^s mass up to 4 kilograms. Additionally, comparisons between Blender simulations and real-world tests show differences in performance between the old and new designs. The new design achieved angles up to 10 degrees greater than those predicted by the Blender simulation.
