Walking Trajectory Optimization Algorithm For Robot Humanoid on Synthetic Grass

  • Dimas Pristovani Riananda Politeknik Elektronika Negeri Surabaya http://orcid.org/0000-0001-9282-993X
  • Ardik Wijayanto Politeknik Elektronika Negeri Surabaya
  • Ali Husein Alasiry Politeknik Elektronika Negeri Surabaya
  • A. Subhan Khalilullah Politeknik Elektronika Negeri Surabaya
Keywords: humanoid robot, inverse kinematic, landing deceleration, heel-strikes gait, RoboCup, optimization algorithm,


Synthetic grass surface is a new rule in international robot soccer competition (RoboCup). The main issue in the development of the RoboCup competition today is about how to make a humanoid robot walk above the field of synthetic grass. Because of that, the humanoid robot needs a system that can be implemented into the walking algorithm. This paper describes how to maintain the stability of humanoid robot called EROS by using walking trajectory algorithm without a control system. The establishment of the walking trajectory system is combined with a process of landing optimization using deceleration and heel-strikes gait optimization. This system has been implemented into a humanoid robot with 52 cm of height and walking on synthetic grass with different speeds. By adding optimization, the robot walks more stable from 32% to 80% of stability. In the next research, the control system will be added to improve the stability.


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Author Biography

Dimas Pristovani Riananda, Politeknik Elektronika Negeri Surabaya
Electronics Engineering


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How to Cite
Riananda, D. P., Wijayanto, A., Alasiry, A. H., & Khalilullah, A. S. (2018). Walking Trajectory Optimization Algorithm For Robot Humanoid on Synthetic Grass. EMITTER International Journal of Engineering Technology, 6(1), 35-61. https://doi.org/10.24003/emitter.v6i1.229