Walking Balance Control for Humanoid Soccer Robot on Synthetic Grass

Humanoid Soccer Robot is one of the divisions in the Robocup Competition. Robocup is an organization that focuses on research and development of soccer robots. With the aim to build a robot soccer team that will be able to fight humans in 2050. In humanoid robots, the main problem in developing humanoid robots is how to make humanoid robots run stably on uneven surfaces. This paper describes how to maintain the stability of the humanoid football robot called EROS, by optimizing walking movements. Optimization is done by adjusting the movement of walking to the footing conditions. The default robot position will be adjusted based on the position of the robot's center of pressure (CoP), which is then combined with the Linear Inverted Pendulum Model (LIPM). To find out the condition of the pedestal base, the pressure sensor is mounted on the sole of the robot's feet. So it is known the position of the pressure center on the robot, which will be used as a parameter in planning the walking motion. This system has been implemented on humanoid robots with a height of 520 mm, as well as running on synthetic grass under different conditions at a constant speed. From the experiments that have been done it can be seen that by applying this method makes the robot more stable when it is on an uneven surface.