Combining pose control and angular velocity control for motion balance of humanoid robot soccer EROS

Azhar Aulia Saputra; Indra Adji Sulistijono; Achmad Subhan Khalilullah; Takahiro Takeda; Naoyuki Kubota

doi:10.1109/RIISS.2014.7009164

Combining pose control and angular velocity control for motion balance of humanoid robot soccer EROS

Azhar Aulia Saputra
, Indra Adji Sulistijono
, Achmad Subhan Khalilullah
, Takahiro Takeda
, Naoyuki Kubota

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

Abstract

This paper proposes a research about the humanoid robot system stability to the basic movements in playing football (walking, running, and kicking a ball). The system controls the stability of the robot body angle in order to remain in an ideal position, using the hand as a function of the feedback that has been controlled the actuator separately with leg function on the robot. The hand has a function as robot body tilt actuator controller and the foot has a function as gait motion control system that controls the robot to walk. This system has deficiency to disorders the high impulse, resulting in added angular velocity control system functions, which can reduce the foot force moment generated when stopping suddenly and unexpectedly ran. System control used PID control while in motion pattern and kinematic control system using Fuzzy algorithm. We applied the combination between the control and speed control angle pose at EROS (EEPIS Robosoccer).

Original language	English
Title of host publication	IEEE SSCI 2014
Subtitle of host publication	2014 IEEE Symposium Series on Computational Intelligence - RiiSS 2014: 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479944651
DOIs	https://doi.org/10.1109/RIISS.2014.7009164
State	Published - 13 Jan 2015
Externally published	Yes
Event	2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, RiiSS 2014 - Orlando, United States Duration: 9 Dec 2014 → 12 Dec 2014

Publication series

Name	IEEE SSCI 2014: 2014 IEEE Symposium Series on Computational Intelligence - RiiSS 2014: 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, Proceedings

Conference

Conference	2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, RiiSS 2014
Country/Territory	United States
City	Orlando
Period	9/12/14 → 12/12/14

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction

Access to Document

10.1109/RIISS.2014.7009164

Cite this

Saputra, A. A., Sulistijono, I. A., Khalilullah, A. S., Takeda, T., & Kubota, N. (2015). Combining pose control and angular velocity control for motion balance of humanoid robot soccer EROS. In IEEE SSCI 2014: 2014 IEEE Symposium Series on Computational Intelligence - RiiSS 2014: 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, Proceedings Article 7009164 (IEEE SSCI 2014: 2014 IEEE Symposium Series on Computational Intelligence - RiiSS 2014: 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RIISS.2014.7009164

Saputra, Azhar Aulia ; Sulistijono, Indra Adji ; Khalilullah, Achmad Subhan et al. / Combining pose control and angular velocity control for motion balance of humanoid robot soccer EROS. IEEE SSCI 2014: 2014 IEEE Symposium Series on Computational Intelligence - RiiSS 2014: 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. (IEEE SSCI 2014: 2014 IEEE Symposium Series on Computational Intelligence - RiiSS 2014: 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, Proceedings).

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title = "Combining pose control and angular velocity control for motion balance of humanoid robot soccer EROS",

abstract = "This paper proposes a research about the humanoid robot system stability to the basic movements in playing football (walking, running, and kicking a ball). The system controls the stability of the robot body angle in order to remain in an ideal position, using the hand as a function of the feedback that has been controlled the actuator separately with leg function on the robot. The hand has a function as robot body tilt actuator controller and the foot has a function as gait motion control system that controls the robot to walk. This system has deficiency to disorders the high impulse, resulting in added angular velocity control system functions, which can reduce the foot force moment generated when stopping suddenly and unexpectedly ran. System control used PID control while in motion pattern and kinematic control system using Fuzzy algorithm. We applied the combination between the control and speed control angle pose at EROS (EEPIS Robosoccer).",

author = "Saputra, \{Azhar Aulia\} and Sulistijono, \{Indra Adji\} and Khalilullah, \{Achmad Subhan\} and Takahiro Takeda and Naoyuki Kubota",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, RiiSS 2014 ; Conference date: 09-12-2014 Through 12-12-2014",

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doi = "10.1109/RIISS.2014.7009164",

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Saputra, AA, Sulistijono, IA, Khalilullah, AS, Takeda, T & Kubota, N 2015, Combining pose control and angular velocity control for motion balance of humanoid robot soccer EROS. in IEEE SSCI 2014: 2014 IEEE Symposium Series on Computational Intelligence - RiiSS 2014: 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, Proceedings., 7009164, IEEE SSCI 2014: 2014 IEEE Symposium Series on Computational Intelligence - RiiSS 2014: 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, Proceedings, Institute of Electrical and Electronics Engineers Inc., 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, RiiSS 2014, Orlando, United States, 9/12/14. https://doi.org/10.1109/RIISS.2014.7009164

Combining pose control and angular velocity control for motion balance of humanoid robot soccer EROS. / Saputra, Azhar Aulia; Sulistijono, Indra Adji; Khalilullah, Achmad Subhan et al.
IEEE SSCI 2014: 2014 IEEE Symposium Series on Computational Intelligence - RiiSS 2014: 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. 7009164 (IEEE SSCI 2014: 2014 IEEE Symposium Series on Computational Intelligence - RiiSS 2014: 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Sulistijono, Indra Adji

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AU - Takeda, Takahiro

AU - Kubota, Naoyuki

PY - 2015/1/13

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AB - This paper proposes a research about the humanoid robot system stability to the basic movements in playing football (walking, running, and kicking a ball). The system controls the stability of the robot body angle in order to remain in an ideal position, using the hand as a function of the feedback that has been controlled the actuator separately with leg function on the robot. The hand has a function as robot body tilt actuator controller and the foot has a function as gait motion control system that controls the robot to walk. This system has deficiency to disorders the high impulse, resulting in added angular velocity control system functions, which can reduce the foot force moment generated when stopping suddenly and unexpectedly ran. System control used PID control while in motion pattern and kinematic control system using Fuzzy algorithm. We applied the combination between the control and speed control angle pose at EROS (EEPIS Robosoccer).

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M3 - Conference contribution

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ER -

Saputra AA, Sulistijono IA, Khalilullah AS, Takeda T, Kubota N. Combining pose control and angular velocity control for motion balance of humanoid robot soccer EROS. In IEEE SSCI 2014: 2014 IEEE Symposium Series on Computational Intelligence - RiiSS 2014: 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. 7009164. (IEEE SSCI 2014: 2014 IEEE Symposium Series on Computational Intelligence - RiiSS 2014: 2014 IEEE Symposium on Robotic Intelligence in Informationally Structured Space, Proceedings). doi: 10.1109/RIISS.2014.7009164

Combining pose control and angular velocity control for motion balance of humanoid robot soccer EROS

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

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