| Summary: | This research discuses about how to generate step-motion humanoid robot.
The focus of this research finds the servo�s data that affects walk�s step-motion of
20 DOF humanoid robot. The constraints of this research are servo�s temperature
and voltage. In order to reach steady state, legs-hips-knees of robot reform their
angular position by feedback of gyroscope signal that affect the static stability.
Step-motions is designed by observe center of mass (COM) position. The Motions
become steady state while output of gyroscope becomes periodic signal. HAVIMO
Camera is used for detects the specified color with On-line Region Growing Method
so that it can processes output data that spread in specific region of x and y axis
image�s plane. The data signal set as control-regulator head�s servos facing the
color position. 19 states are generated for tracking specific color and represented
through state�s diagram. By comparing the temperature and voltage between 56
step and 24 step, the influence sum of step�s robot prove that reducing sum of steps,
with equal trajectory, parameter, and real time work, increasing speed against x
(go forward) axis movement, decreasing movement�s speed against y-axis (shift)
and �-axis (rotation), decelerating temperature�s ascension, and decelerating
voltage�s descent.
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