Football Humanoid Goalkeeper Robot Movement System Using Optimization of Head Movements

This research is motivated by the robot which by default the program is only moved in one direction, namely forward so it is not effective to make the robot banish the ball. In the competition, the goalkeeper robot is required to block the movement of the ball to cross the goal line, the importance of the role of a keeper in the football humanoid robot competition is behind research so that the robot can move other than forward, which is to move sideways. The robot moves straight with respect to the x-axis, while the robot moves sideways with respect to the y-axis. Therefore, in the program, there is a function called setWalkingParam where there are balance, x_move, y_move, and rotation_angle parameters. The parameter to be optimized is y_move so that the robot can move sideways at a certain velocity. The trigger for the robot to move sideways is the angle of the robot's head where when the robot is detecting an object, it will simultaneously output in the form of an angle on the robot's head.