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Please use this identifier to cite or link to this item: https://ptsldigital.ukm.my/jspui/handle/123456789/578193
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dc.contributor.authorMuhamad Khuzaifah Ismail (UKM)
dc.contributor.authorMeng Cheng Lau (UKM)
dc.contributor.authorMohammad Faidzul Nasrudin (UKM)
dc.contributor.authoraslina Arsha (UKM)
dc.date.accessioned2023-11-06T02:59:04Z-
dc.date.available2023-11-06T02:59:04Z-
dc.date.issued2017-06
dc.identifier.issn0128-7680
dc.identifier.otherukmvital:113376
dc.identifier.urihttps://ptsldigital.ukm.my/jspui/handle/123456789/578193-
dc.descriptionThe walking of a humanoid robot needs to be robust enough in order to maintain balance in a dynamic environment especially on uneven terrain. A walking model based on multi-sensor is proposed for a Robotis DARwIn-OP robot named as Leman. Two force sensitive resistor (FSRs) on both feet equipped to Leman to estimate the zero moment point (ZMP) alongside with accelerometer and gyrosensor embedded in the body for body state estimation. The results show that the FSRs can successfully detect the unbalanced walking event if the protuberance exists on the floor surface and the accelerometer and gyrosensor (Inertial Measurement Unit, IMU) data are recorded to tune the balancing parameter in the model.,*, , and
dc.language.isoen
dc.publisherUniversiti Putra Malaysia Press
dc.relation.haspartPertanika Journals
dc.relation.urihttp://www.pertanika.upm.edu.my/view_archives.php?journal=JST-25-S-6
dc.rightsUKM
dc.subjectBalance
dc.subjectHumanoid
dc.subjectMultisensor
dc.subjectWalking model
dc.subjectZMP
dc.titleMultisensor automatic balancing model for DARwIn-OP on uneven terrain
dc.typeJournal Article
dc.format.volume25
dc.format.pages181-188
dc.format.issueSpecial Issue
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