T-FLoW (Teen FLoW) is one of the teen size humanoid robots developed by ER2C (EEPIS Robotics Research Center) laboratory. There are various problems that occur when the robot performs dynamic locomotion, one of them is the overloading received on every actuator thus causing the asynchronous locomotion of the robot. In this paper, the goal to be achieved is making a vertical jumping mechanism of the robot to become more synchronized. Therefore, multivariable control will be used as a method to distribute overload for each actuator on the same joint so that actuator can be more synchronized. Finally, multivariable control has a positive effect in which the success rate of the vertical jumping mechanism is about 80%, and the robot managed to hover on the air for about 7-9 ms.

This paper discusses about analysis the mechanical and forward kinematic of Prosthetic Robot Hand for T-FLoW 3.0, because it is the basic thing in building Prosthetic Robot Hand. This Prosthetic Robot Hand has 15 DoF which represented by 6 motors as the actuator. Mechanism which used for actuating each finger is by twisting the cable. The material used is PLA with 3D printed way for getting mass as light as possible and also easy to install. Mechanical analysis in this paper is to discuss the strength of the finger structure using the static structural analysis method. The kinematics that will be discussed in this paper is Forward Kinematic (FK). In mechanism design, FK is used to find constraint, calculate position vector of End of Efector (EoE). But, this paper only discusses the FK used to be looking for the constraint, it means that how maximum is the point that can be reached by finger with maximum degree of each joint of finger.

Research on T-FloW humanoid robot in EEPIS Robotics Research Center (ER2C) has entered the third generation. Previously, the robot already had primitive motions to mimic 'human-like' walking capabilities by making use of an open loop motion controller. Yet, a feedback control system is required in order to take corrective measures due to walking parameter variations. In this current stage of the work, the development is aimed to provide the robot with adequate number of sensors to detect the movement of the robot. This paper describes the utilisation of the sensors in our robot to analyze and detect its condition when the robot begins to fall down. An inertial measurement unit (IMU) sensor consists of 3-axes accelerometer and 3-axes gyrometer was in use. The analysis was done under V-REP simulation software which is equipped with Vortex dynamic engine. The simulation showed the detected characteristic of the walking parameters of the robot just before it begins to fall down. This simulation result is paramount for further T-FloW walking controller development.

Recently, innovation in the technologies has been driven by the need of a flexible, reconfigurable, and reliable machine for under water operation termed as Remotely Operated Vehicle (ROV). Development of the ROV has opened many opportunities for exploring and make the better understanding of our underwater environment. Degree of freedom is an important aspect in ROV in enabling the flexibility of the movement during its maneuver underwater. This paper proposes the design of a remotely operated underwater vehicle (ROV) with 5 DOF using multi-thrusters configuration. Since the horizontal movement of the proposed ROV needs more flexibility, thus in this design 4 thrusters are situated to handle movement of the ROV in the horizontal plane, and the remaining 2 thrusters are handling the vertical plane movement. To get better understanding about the underwater environment, several sensors are needed to be deployed in the ROV. The proposed ROV design already accommodates the sensors planned to be installed in the vehicle when designing the mechanical model of the ROV. Finally, the proposed mechanical design and the dynamic model of the ROV have been presented for its future development process.

Zero moment point (ZMP) is a mathematical formulation to find a point that causes equilibrium of action and reaction momentum (momentum equal to zero). ZMP can be approached using Single Linear Inverted Pendulum Model (SLIPM). In this paper will explain the modeling of walking trajectory based on the mathematical formulation in SLIPM on the “T-FLoW” humanoid robot. In the SLIPM mathematical equation has 2 main components which are position vector of Center of Mass (CoM) and Acceleration (Linear) of CoM. From these two main compositions, there will be two types of walking trajectory models to be used and implemented in the “T-FLoW” humanoid robot. The first walking locomotion analysis is walking trajectory model the position vector of CoM is dominant. The second walking locomotion analysis is walking trajectory model when the acceleration in CoM is dominant. The results of these two walking trajectory models are for modeling and establishing a control system for robot stability based on dynamic characteristic on both walking trajectory models in the next research.

EEPIS Robotics Research Center (ER2C) has been built a humanoid robot and the name is “T-FLoW” humanoid robot. This Humanoid robot is used to solve the problem in the direct pass during moving ball in the technical challenge RoboCup Competition. This paper will explain about the implementation of direct pass strategy during moving the ball into “T-FloW” humanoid robot. Direct pass strategy is splitting into 3 step. The first step is how to calculate and predict the position, speed, and acceleration during ball movement by using camera vision strategy. The second step is how to doing kick motion when the ball is approaching the foot based on the position, speed, and acceleration from the first step. The third step is the main strategy to combine the first and second step. Based on the experiment result, the success to pass the ball is 80%. The kicking locomotion is not fast enough. Perhaps in next research, the kicking locomotion will be made with fully efficient and faster than before.

In Indonesia research on Humanoid is limited to Kid-Size only, while for Teen-Size is still rare. This encourages teams and researchers to create a Teen-size humanoid called “FLoW”. To perform flexible movements like humans is not easy to do robot. Some of the problems that arise and become the focus of this research is to organize the movement of the robot in order to move, synchronize the movement in every parts of the humanoid robot, mathematical modeling and simulation of robot movement when standing. Taking into account the total kinematics of the humanoid robot, the movement of the robot can be overcome. With forwardinvers kinematics, researchers can determine a movement of the robot by controlling the motor part at a certain point. This section is an actuator of the robot. To do the modeling and simulation using D-H parameter and V-REP simulation software aid. Then for forward-invers kinematics can be implemented on the PID algorithm with the output of the speed on the motor that can form an angle on the motor to drive the robot. The expected result of this research is Humanoid Robot can move to follow the trajectory that has been determined. Making Humanoid Teen-Size robot is expected to increase research on Humanoid Teen-Size in Indonesia. In addition, this FLoW robot can be a supporting material and reference for the development of Humanoid Teen-Size next.

A map of a location made of a human mindset is made briefly by recording a situation already seen in memory. Human behavior is easy to do without a lot of thinking. The process is observed more deeply that when the human mind does not do the behavior in turn like looking at the whole room then just remember, but humans can see at once remember simultaneously. Bringing human behavior into a computer system is done by mimicking how humans look. Looking at using two cameras in combination with the sensor structure. To process the device requires a large computing. Be a challenge for Portable CPU that have lower capabilities than high end CPU. For that humanoid robot can perform tasks simultaneously and can accelerate, especially in image processing using portable CPU required a method that makes the processing into realtime. Achieving realtime with data from previous researcher can not be done with sequential algorithms when the complexity is high. After analyzing the problem was built parallel camera mapping process using multithread algorithm. This paper aims to accelerate the basic process of making the map so as to achieve realtime. This research aims to change the previous process that runs sequentially into a parallel system using multithread algorithm. The results of each process are compared between parallel systems with multithread algorithm and do not use parallel systems. There is a change in speed between the two processes. Further research is concerned with improving the mapping environment results when visualized.

In this paper, we present an approach for detecting, recognizing and tracking varying number of objects through both have similarity shape and colors. The objects tracking is the varying notes of Indonesian traditional instrument called “gambang”. Our method build an idea how to recognize well the notes and classify each objects in real time tracking. The houghlines standard method is used to search the right lines of the shape of instrument. At the level of detecting object, the square and contours method is used. The real time tracking is based on the color of contour object using hsv color filter. We demonstrate the viability of this approach by experimenting on several videos of the instrument from different angle of view 2D camera. The instrument labeling testing with the camera view from the left side has 100% success, from the center side has 95% success, and from the right side has 90% success.

Memory management evaluation test is one of the ways to understand the characteristic and performance of dynamic memory allocation algorithm. DMA is one of the RTOS parts that provide storage management when the applications are running. Nowadays there is a lot of memory management algorithm, and each algorithm has its own characteristics like the deterministic or nondeterministic algorithm. We develop a testing framework using Markov chain in order to test the allocation algorithm performance to fit the allocation behavior in RTOS. The framework generates various type of scenario test which can determine deterministic and nondeterministic of the algorithm based on the performance result. The result shows the impact of allocation size and allocation variation affect the allocation performance respond that generated by this framework.

Particle Swarm Optimization (PSO) is fast and popular algorithm to find the optimum value of non-linear and multi-dimensional function. However, it often easily trapped into local optima because the particles move closer to the best particle quickly. This paper purposes a new algorithm called Multi-Group Particle Swarm Optimization with Random Redistribution (MGRR-PSO) that tried to solve the weakness of standard PSO. MGRR-PSO combines two groups of PSO with opposite acceleration coefficients. In addition, some particles are redistributed when they are trapped in local optima. Experimental studies on 5 benchmark functions with 50-dimensions and 100-dimensions show that the MGRR-PSO can solve the problems that can't be solved by original PSO with better performance.

As continuation of our last research about dancing humanoid robot in 33 degree of freedom, in this paper we describe how to build dance pattern planning of Indonesia traditional dance movement in complete degree of freedom. We discuss the primitive pose in that commonly happened in traditional dance and build the transition pattern among the pose. The motion pattern method between the poses is based on the ability of robot to reach zero moment point position, and also the system to synchronize timing for dance motion is built. In this research zero moment point is our most concern problem because the worst thing in humanoid research is when the robot cannot maintain the balance itself. The computation considers that the zero moment point stays in a support polygon area.

Human can recognize an object just by looking at the environment, this capability is very useful for designing the reference of humanoid robot with the ability of adapting it on its environment. By knowing the field conditions that exist in such environments, robot can understand the obstacles or anything that can be passed. To do that, robot vision needs to have a knowledge to understanding an obstacles that exist around it. We investigate possible improvements that can be achieved in depth estimation by merging coded apertures and stereo cameras. The demonstrated results of this analysis are encouraging in the sense that coded apertures can provide valuable complementary information to stereo vision based depth estimation in some cases. We show that with this system, it is possible to extract depth information robustly, by utilizing the inherent relation between the disparity and defocus cues, even for scene regions which are problematic for stereo matching.

Humanoid robot is a robot that has intelligence like human. In this research, the team has build a robot called by FLoW. The robot is designed to have the ability as human beings, one of the ability is able to communicate. In the process of communication requires media, one of them is sound. This system is built to help the development research of ER2C (EEPIS Robotic Research Center) in building a Humanoid Robot ‘FLoW’. Robot ‘FLoW’ to be able to communicate, then the robot should be able to say word or doing speech. Its called as speech generation. To generate sound, it will be make text to speech synthesis system. In the process of preprocessing is using FSA (Finite State Automata) algorithms. In Indonesian language uses 11 patterns. The testing process is done on the processing of ‘words’, ‘sentences’, and ‘articles’. The percentage of success in ‘words’ and ‘sentences’ is more accurate and match with the separation of syllables in Indonesian language than the process of articles. From processing the article in newspaper, it has success rate of parsing 92.63%. The data were processed taken from five types of theme articles, namely the economy, education, sports, politics, and law. The performance is the result of parsing the articles is lower due to the addition of the name, title, and foreign words that have not undergone uptake in Indonesian language.

The RoboCup Middle Size League competition is a standard real-world test bed for autonomous multi-robot control, robot vision and other relative research subjects. In the past decade, omnidirectional vision system has become one of the most important sensors for the RoboCup soccer robots, for it can provide a 360° view of the robot's surrounding environment in a single image. The robot can use it for tracking and self-localization which very important for robot's control, strategy, and coordination. This paper will discuss the vision system to detect ball, goals, and calculate the angle and real distance from those objects. Based on the research that has been done, the system can detect the ball and the goal, and calculate the angle and the actual distance with a maximum error distance is 5%.