Walking Trajectory Control for Humanoid Dancing Robot ERISA based on Field Guardrail

Humanoid robots are robots that resemble humans. ERISA robot is a robot made by EEPIS participating in the KRI robot competition in the humanoid dancing robot division. This robot has a mission to walk and dancing in predetermined game field zones. While dance, the walking-trajectory may drift outside the desired zone since there is no feedback for the robot to correct its trajectory. In this research, a VL53L0X rangefinder sensor and an IMU MPU6050 sensor are deployed in the system to measure the robot position against the fence installed in the game field. The sensor is mounted on the side sole in one of the robot legs. The sensor will give the relative distance from the robot to the fence and its absolute heading angle. The footstep distance will be calculated using odometry by using the robot steps and its angle heading. By using walking-trajectory control the robot can move in the desired trajectory relative to the fence, which is used as the guardrail, while the robot walks to the target zone in the game field.