Balance movement controller of humanoid soccer player on different surfaces

The regulation of balancing humanoid robots on certain media was being developed in several studies. The objective of this research is to maintain the balance of humanoid robot by applying gyroscope and accelerometer sensors. The research method used was experiments using both sensors where the robot is placed on a variety of pedestals. Both sensors were taken in value, then processed to generate Proportional-Integral-Derivative (PID) values for the CM530 controller that used to drive the servo motors that exist in the humanoid robot. Movement of servo motors produced would place the robot in balanced condition when robot stand up straight or move. The gyroscope and accelerometer sensors together with Proportional-Derivative (PD) control used to maintain the balance as it moved forward, turn left, turn right and moved backwards on the tiled floor and green carpet. Meanwhile, to move on synthetic grass, it was still need to adjust again with robot construction.