Walking Balance Control for Humanoid Soccer Robot on Synthetic Grass

Basthomi, Mochamad Ayuf; Alasiry, Ali Husein; Risnumawan, Anhar; Wijayanto, Ardik; Anwar, Miftahul; Maulana, Choirul Anwar; Wasono, Puguh Budi; Indranuddin, Moch Yahya

doi:10.1109/ies50839.2020.9231879

Cited by 3 publications

(2 citation statements)

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“…Different strategies were applied to determine the motion stability in the control loop such as the ZMP method that determines whether the robot CoP is inside the region of the support leg [76,79,84,88,89,101,102]. Other methods defined the motion stability with the CoM trajectory [85,87,90,92,94,100] or joint angles [83,104,107].…”

Section: Scientific Evidencementioning

confidence: 99%

“…Walking speed was also taken as a velocity stability criterion [103]. In another work [76], a stable run was defined and compared between controllers by looking at the robot angular acceleration, which was the result of reading robot vibration that tends to be stable. Concerning slopes, two studies included the number of robot steps as PI.…”

Section: Scientific Evidencementioning

confidence: 99%

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Legged locomotion over irregular terrains: state of the art of human and robot performance

et al. 2022

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Legged robotic technologies have moved out of the lab to operate in real environments, characterized by a wide variety of unpredictable irregularities and disturbances, all this in close proximity with humans. Demonstrating the ability of current robots to move robustly and reliably in these conditions is becoming essential to prove their safe operation. Here, we report an in-depth literature review aimed at verifying the existence of common or agreed protocols and metrics to test the performance of legged system in realistic environments. We primarily focused on three types of robotic technologies, i.e., hexapods, quadrupeds and bipeds. We also included a comprehensive overview on human locomotion studies, being it often considered the gold standard for performance, and one of the most important sources of bioinspiration for legged machines. We discovered that very few papers have rigorously studied robotic locomotion under irregular terrain conditions. On the contrary, numerous studies have addressed this problem on human gait, being nonetheless of highly heterogeneous nature in terms of experimental design. This lack of agreed methodology makes it challenging for the community to properly assess, compare and predict the performance of existing legged systems in real environments. On the one hand, this work provides a library of methods, metrics and experimental protocols, with a critical analysis on the limitations of the current approaches and future promising directions. On the other hand, it demonstrates the existence of an important lack of benchmarks in the literature, and the possibility of bridging different disciplines, e.g., the human and robotic, towards the definition of standardized procedures that will boost not only the scientific development of better bioinspired solutions, but also their market uptake.

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