3RD INTERNATIONAL CONGRESS ON TECHNOLOGY - ENGINEERING & SCIENCE - Kuala Lumpur - Malaysia (2017-02-09)

Humanoid Robot Control System Balance Dance Indonesia And Reader Filters Using Complementary Angle Values
The development of increasingly advanced technology, make people want to be more developed and curiosity to know more to determine the development of advanced technology. Humanoid robot technology is a tool that can be used as a tool for people who have several advantages. To make intelligent robot must perform considerations roomates Often Become an obstacle in designing a humanoid robot, factors such as stability can not be Achieved motion, to overcome these obstacles it must be done research that simultaneously designing a robot to consider and choose the parts of robot builders right, and specifications in accordance with the needs, so that the targets to be achieved such as intelligence, stability, reliability, and speed of the robot in the act can reached. Given these considerations, the researchers will try to design a robot with Full System Balance Humanoid Robot Dance Indonesia Using Complementary Filter and Reader Value Angle, which can perform basic applications to control the movement of dancing to the strains of music that has set the type of music dance, to exercise Indonesian traditional dance that is masked dancer nation betawi. Basically humanoid robot is a robot that resembles a human being with all the driving structure. Researchers will try to take measurements of the movement of the feet, hands and body of the robot, so the robot balance will be maintained, with a Visual Basic application program. While on the move or walk, requires the balance to keep from falling. In the application of this humanoid robot manufacture researchers use MPU6050 module which is an important component of the robot because it can provide a response to the angle reference axis X and Y reference axis, the reading corner still has a noise if not filtered out beforehand, and complementary filter function to filter the value point value or the value of the sensor modules that emit MPU6050 pitch and roll angle, complementary filter function to filter the value point value or the value of the sensor modules that emit MPU6050 pitchdan roll angle, by first looking at the block diagram of a complementary filter design. The measurements are also done on changing the time of sampling, the sampling time value will be changed to change the value of 0.1 seconds (10Hz), 0.05 sec (20Hz) and 0.01 second (100Hz). On the other hand the use of Complementary filters are the answer to reduce the noise. By arranging the filter coefficients and time sampling filter that affects the signal updates corner. The angle value will be the value of the sensor to the process to the PID system which generates output values that are integrated with the servo pulses. Researchers will test to get a reading of the most stable angle for this experiment is the "a" or the value of the filter coefficient = 0.96 and "dt" or the sampling time = 10 ms.
Rosita Febriani Tata, Eka Susanti Eka, Sholihin hin