ERISA Robot’s Walking Trajectory Control using Pixy CMUcam5 to Locate the Target Position

The robot contest is one of the fascinating events that drive innovation in robotics research and development. ERISA is a humanoid robot dancing developed by EEPIS students to participate in such a contest. ERISA robot is designed to be able to dance traditional Indonesian dances with agile and attractive movements. ERISA robot has a mission to dance and move from the Start Zone to the Finish Zone. Unfortunately, it is hard to make the ERISA robot stop at the desired zone without rigorous tuning because the walking trajectory in ERISA still uses an open-loop control. Since each field zone in the game field has a different color characteristic, it can be used as the robot’s guidance to assist its walking trajectory. In this research, the Pixy CMUcam5 camera will detect the Finish Zone in the game field and marked it as the target position. Since the robot heading is changing during its movement, an Inertial Measurement Unit (IMU) sensor is used to correct the projection of the target position. Thus, the location is processed in the form of(X, Y) coordinates, which are used as the reference to control the robot walking trajectory. As a result, the robot can walk towards the target accurately.