| Abstrak/Abstract |
Overheat-preventing motion in color-tracking humanoid biomechanics has been evaluated based on a gyroscope sensor. To achieve stability, the angular degree of the hip-knee-ankle servos was defined using feedback error data from gyroscope signals. The gyroscope sensor was placed on the humanoid structure's center of mass (COM). A camera was used to identify the anticipated color using the look-up table approach and to determine the image's plane axis's central x Cx and central y Cy using the Region Grow algorithm. The bounding box technique determined the position of the microcontroller's central xy Cxy which was used as input for the neck and waist servos to face the color location. The purpose of this research is to offer consistent walking motion toward the intended color while preventing overheating, particularly in knee actuators. To verify robot stability, two experiments were planned: static and dynamic balance. The studies in static balancing were carried out by tilting the robot toward the y-axis (pitch), which caused the robot to fall. Meanwhile, the dynamic balancing was evaluated based on cross-correlation and autocorrelation of the gyroscope signal. The walking motion is steady in dynamic balancing, but the gyroscope output creates a periodic signal. As a means of evaluating stability, the time-step and lag of gyroscope data were chosen. The temperature of the knee servos was measured under overheat protection at 55°C and compared tothe traditional and new methods. Finally, the overheat-preventing walking motion reduces the risk of overheating actuators, which results in a low-temperature increase on the knee servos. |
