Citation: Jánoš, R.; Sukop, M.;
Semjon, J.; Tuleja, P.; Marcinko, P.;
Koˇcan, M.; Grytsiv, M.; Vagaš, M.;
Miková, L’.; Kelemenová, T. Stability
and Dynamic Walk Control of
Humanoid Robot for Robot Soccer
Player. Machines 2022, 10, 463.
https://doi.org/10.3390/
machines10060463
Academic Editor: Dario Richiedei
Received: 26 April 2022
Accepted: 9 June 2022
Published: 10 June 2022
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Article
Stability and Dynamic Walk Control of Humanoid Robot for
Robot Soccer Player
Rudolf Jánoš
1,
* , Marek Sukop
1
, Ján Semjon
1
, Peter Tuleja
1
, Peter Marcinko
1
, Martin Koˇcan
1
,
Maksym Grytsiv
1
, Marek Vagaš
2
, L’ubica Miková
2
and Tatiana Kelemenová
3
1
Department of Production Technology and Robotics, Faculty of Mechanical Engineering, Technical University
of Kosice, 04200 Kosice, Slovakia; marek.sukop@tuke.sk (M.S.); jan.semjon@tuke.sk (J.S.);
peter.tuleja@tuke.sk (P.T.); peter.marcinko@tuke.sk (P.M.); martin.kocan@student.tuke.sk (M.K.);
maksym.grytsiv@tuke.sk (M.G.)
2
Department of Industrial Automation and Mechatronics, Faculty of Mechanical Engineering,
Technical University of Kosice, 04200 Kosice, Slovakia; marek.vagas@tuke.sk (M.V.);
lubica.mikova@tuke.sk (L’.M.)
3
Department of Biomedical Engineering and Measurement, Faculty of Mechanical Engineering,
Technical University of Kosice, 04200 Kosice, Slovakia; tatiana.kelemenova@tuke.sk
* Correspondence: rudolf.janos@tuke.sk; Tel.: +421-55-6022197
Abstract:
Robotic football with humanoid robots is a multidisciplinary field connecting several
scientific fields. A challenging task in the design of a humanoid robot for the AndroSot and HuroCup
competitions is the realization of movement on the field. This study aims to determine a walking
pattern for a humanoid robot with an impact on its dynamic stability and behavior. The design of
the proposed technical concept depends on its stability management mechanism, walking speed
and such factors as the chosen stability approaches. The humanoid robot and its versatility, along
with the adaptability of the terrain, are somewhat limited due to the complexity of the walking
principle and the control of the robot’s movement itself. The technical concept uses dynamic stability
as the potential force of the inertial bodies and their parts so that the humanoid robot does not
overturn. The total height of the robot according to the rules of the competition will be 50 cm. In the
performed experiment, only the lower part of the humanoid robot with added weight was considered,
which is more demanding due to the non-use of the upper limbs for stabilization. The performed
experiment verified the correctness of the design, where the torso of the robot performed eight steps
in inclinations of a roll angle +4/−2
◦
and a pitch angle +4/−6
◦
.
Keywords: humanoid robot; walking pattern; stability
1. Introduction
In general, a humanoid robot is statically stable if its stability is maintained at any
point in time of its movement [
1
]. Static stability is secured in the condition where the
projection of the robot’s center of gravity is at all times within the convex polygon defined
by the feet that are currently touching the pad. If the construction of the humanoid robot is
less than three feet long, the support polygon degenerates to a line or a point. In such a
situation, the system is dynamically stable, provided it is in balance. If static stability has to
be always maintained, the system will be severely limited in speed and maneuverability.
Humanoid robots are statically unstable; however, they become dynamically stable
at a moderate speed [
2
]. Dynamic stability increases with increasing speed, and it is
always necessary for bipedal (there are examples of bipedal robots that do not require
dynamic stability if the robot walks slowly) and one-legged robots, but not required for
multi-legged robots.
One of the main problems is the continuous and dynamically balanced creation of a
walking pattern. There are many methods and techniques to overcome this requirement,
such as:
Machines 2022, 10, 463. https://doi.org/10.3390/machines10060463 https://www.mdpi.com/journal/machines
