Body Balancing Control for EILERO Quadruped Robot while Walking on Slope

Abstract

A robot is a tool that has been developed rapidly today. One type of robot is a Quadruped robot. The problem that often arises in this 4-legged robot is when carrying out an action to be able to walk in the inclined plane or slope on the rule that has been set in the Indonesian Fire Extinguisher Robot Contest referring to the Fire, Fighting Robot Contest Trinity, USA. Kinematic inverses and normal gait patterns such as crawl gait can be used to make the robot balance the body when on a certain slope. But this method alone will result in robot movements less flexible and can accelerate the damage to each servo motor due to unbalanced robot load and causes too much time to act. This paper implements PID control that uses its current attitude as the feedback in balancing the robot on the slope. IMU (Measurement Unit Inertia) is used as the robot attitude sensor which provide the roll, pitch, and yaw Euler angle data of the robot. Then the pitch data from this sensor will be processed to adjust the change on the z axis for each front leg and the rear leg and thus the robot can adapt to run on a slope.