Perancangan Kestabilan Robot Humanoid Dengan Metode Zero Moment Point Dan Artificial Neuro Fuzzy Inference System
| Main Author: | Kurniawan, Ghufron Wahyu |
|---|---|
| Format: | Thesis NonPeerReviewed Book |
| Bahasa: | eng |
| Terbitan: |
, 2020
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| Subjects: | |
| Online Access: |
http://eprints.umm.ac.id/61488/1/PENDAHULUAN.pdf http://eprints.umm.ac.id/61488/2/Bab%20I.pdf http://eprints.umm.ac.id/61488/3/Bab%20II.pdf http://eprints.umm.ac.id/61488/4/Bab%20III.pdf http://eprints.umm.ac.id/61488/5/Bab%20IV.pdf http://eprints.umm.ac.id/61488/6/Bab%20V.pdf http://eprints.umm.ac.id/61488/7/LAMPIRAN.pdf http://eprints.umm.ac.id/61488/8/poster.pdf http://eprints.umm.ac.id/61488/ |
Daftar Isi:
- In the robot movement system, stability and balance are fundamental issues that often arise and make the performance of the robot deteriorated, especially in humanoid robots that use feet as a moving medium. The purpose of this research is to develop a control method to maintain balance and stability in humanoid robots. In this study the balance of humanoid robots was designed using the Artificial Neuro Fuzzy Inference System (ANFIS) method. ANFIS are the combination of fuzzy with artificial neural networks. This method is selected because it has a learning facility, so it can minimize the tuning process error. From the experiments done, the hardware part has a pretty good result, with a small average error value. Then, in the trajectory test it also shows the suitability of the results by design. While on the robot balance testing while walking, the use of neuro-fuzzy controls makes the robot more stable and less easily dropped.