Balancing Control of ERISA Humanoid Robot using GY-952 and PD Control to Walk on Unequal Heights Surfaces

With current technological advances, innovation in the world of robotics is also growing rapidly, especially in humanoid robots. The basic thing to pay attention to in a humanoid robot is its balance in the process of walking using its two legs. In the last two years of the Indonesian Robot Contest (KRI), in the Indonesian Art Dance Robot Contest (KRSTI) division, there has been a challenge that requires the robot to walk through the surface of the field that has unequal height. Thus, the bend detection system and its balance recovery system are needed to restore the stability of the robot when it is close to falling. To solve this problem, the balance control system is implemented using the PD control method with the GY-952 sensor. Thus, by detecting the position of the angle of the tilt condition, the robot can provide balance-recovery action. Using input from the GY-952 sensor and the hip-ankle balance recovery method, the robot managed to climb and descend the field with unequal heights up to 10 mm thick.