Sistem Kontrol Keseimbangan Gerak Robot Humanoid Dengan Metode Zero Moment Point (ZMP)

Yohanta, Nathanael Adrien (2025) Sistem Kontrol Keseimbangan Gerak Robot Humanoid Dengan Metode Zero Moment Point (ZMP). Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Robot humanoid memiliki potensi besar dalam berbagai aplikasi karena bentuk dan gerakannya yang menyerupai manusia. Namun, tantangan utama dalam pengembangan robot ini adalah menjaga keseimbangan selama bergerak, terutama saat berjalan. Perubahan posisi pusat massa dan gaya inersia dapat menyebabkan robot kehilangan stabilitas dan jatuh. Penelitian ini menggunakan pendekatan Zero Moment Point (ZMP) sebagai metode kontrol untuk menjaga keseimbangan dinamis robot humanoid. ZMP adalah titik pada bidang tumpuan tempat semua momen akibat gaya eksternal seimbang. Dengan menjaga ZMP tetap berada dalam area kontak kaki dengan lantai, keseimbangan robot dapat dipertahankan selama pergerakan. Dalam penelitian ini, dilakukan simulasi robot humanoid berjalan mengikuti lintasan tertentu di bidang dua dimensi (x dan y). Variasi lintasan yang digunakan bertujuan menguji respons sistem terhadap berbagai kondisi gerakan. Hasil simulasi menunjukkan bahwa metode ZMP mampu menjaga stabilitas robot saat mengikuti lintasan, bahkan ketika akselerasi cukup tinggi. Selama ZMP tidak keluar dari area dukungan kaki, robot tidak mengalami kehilangan keseimbangan. Penelitian ini membuktikan bahwa kontrol berbasis ZMP efektif untuk menjaga stabilitas gerak robot humanoid dan dapat menjadi dasar pengembangan sistem kontrol lanjutan untuk aplikasi di lingkungan nyata.
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Humanoid robots hold significant potential in various applications due to their human-like form and movements. However, a major challenge in their development is maintaining balance while in motion, especially during walking. Shifts in the center of mass and inertial forces can lead to instability and falling. This study employs the Zero Moment Point (ZMP) approach as a control method to maintain dynamic balance in humanoid robots. ZMP refers to the point on the ground where the net moment caused by all external forces is zero. By keeping the ZMP within the foot support area, the robot's balance can be sustained throughout its motion. In this research, a simulation of a humanoid robot walking along predefined 2D trajectories (x and y directions) was conducted. Various paths were tested to evaluate the system's ability to handle different movement scenarios. Simulation results show that the ZMP-based method effectively maintains the robot's stability, even under relatively high acceleration. As long as the ZMP remains within the support polygon, the robot does not lose balance. This study confirms that ZMP control is an effective solution for dynamic stabilization in humanoid walking and serves as a foundation for further development in more complex real-world applications.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	ZMP, robot humanoid, keseimbangan gerak, pusat massa. ZMP, humanoid robot, balance motion, center of mass
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.4 Robot motion T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Nathanael Adrien Yohanta
Date Deposited:	26 Jul 2025 13:25
Last Modified:	26 Jul 2025 13:25
URI:	http://repository.its.ac.id/id/eprint/121680

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