Autonomous humanoid body balance while carrying an object

Samsudin, Ahmad Yusup (2016) Autonomous humanoid body balance while carrying an object. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) Autonomous Humanoid Body Balance While Carrying An Object.pdf - Submitted Version Download (2MB)

Abstract

This final year project highlights on the development of an autonomous body balance while carrying an object for humanoid robot. This project aims to increase the capability and application of humanoid robot in this modem world. The algorithm used need to match the control trajectory need to robust from any disturbances for it to functional well. Experimental result highlights the importance of the control is it improved from the previous research or not. One of the most important criteria in balancing humanoid robot is to control the COM to be in support polygon through entire locomotion. As we know, position of COM changes when humanoid robot moves. In addition when humanoid robot carry load with certain weight especially heavy weight, the position of COM will shift out far from support polygon. Thus, the robot will fell down. To overcome problem robot falling down, suitable method to control the position of COM suggested and be tested.

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