ZMP fuzzy Implementation for Robot Stability Optimization

One type of robot is a robot with legs that can freely move in all directions and fields representing a human-like form. In a robot movement system, stability and balance present fundamental problems that often arise decreasing the robot's performance especially in robots utilizing feet as a moving medium. The number of legs dramatically affects the balance of the robot. Smaller number of legs generates smaller stability and balance, leading to more significant flexibility. Therefore, this research aims to highlight the stability and balancing, recently alleged as an important topic. The results of this study are in the form of algorithms or methods which create the robot movement in a balanced manner preventing from effortless fall, performed through Zero Moment Point or ZMP. In this study, the authors analyzed the balance of a humanoid robot by paying attention to the robot's Zero Moment Point using Fuzzy. When the robot is walking in place, the robot is not moving or when the robot is walking. This humanoid robot has two legs -called bipedal, demonstrating a lower balance level than other legged robots. It is thus possible to analyze and conduct further development in the present and future, by using the ZMP, anticipated that robot can move without slipping of more than 1 meter