Dynamic Stability Walking On Inclined Surface For "T-FloW" Humanoid Robot Using Design Pattern Step

Abstract

This paper discusses about research for developing human-like robots. To make the robot walk like a human on inclined surface, it is currently being developed into two major parts, namely the mechanical system and the equilibrium motion control system. In this mechanical system, it discusses the relationship of all human parts that are modeled on each joint and link to the robot. The analysis used in modeling this mechanical system is dynamic walking and Dynamic Step for robot on the inclined surface . Whereas for motion control systems on inclined surface, Online Motion Stabilization and Online Posture Stabilization analysis is used. Planning balance movements is used for each joint to make the robot walk stable in inclined surface. Balance system planning is made based on input data obtained from sensor readings from the position of the robot. Then the triple inverse pendulum approach can be used which can be solved by simulating the movement from the feet and body . The Walking Simulation Result have success for dt = 20 ms. It means that the distances and joint values won`t be updated any faster that every 20 ms .