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"Untuk dapat berinteraksi bersama manusia dengan baik, robot sebisa mungkin dibuat agar memiliki berntuk dan gerakan yang mirip dengan manusia. Motion Capture atau sering disebut dengan Imitation Learning adalah salah satu teknik pengendalian robot humanoid dengan manusia sebagai actor dan robot sebagai agen yang akan mengimitasi gerakan actor. Metode ini menawarkan kefleksibelan dan kemudahan dalam memprogram gerakan robot. Namun, dalam proses imitasi perlu dipertimbangkan aspek keseimbangan robot. Pada penelitian ini diimplementasikan metode motion capture untuk mengendalikan robot biped dengan pengendalian keseimbangan yang menerapkan kriteria ZMP pada perubahan gerakan robot. Penelitian dilakukan dengan menggunakan perangkat capture Microsoft Kinect dan dipetakan secara langsung pada biped robot 12 DOF dengan aktuator Dynamixel AX-12. Metode yang diusulkan telah sukses dikembangkan, disimulasikan, diuji langsung kepada robot dan memberikan hasil yang baik.

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To be able to interact with humans, robot made as much as possible in order to have similar appearance and movement like human. Motion capture or often called Imitation Learning is one of the humanoid robot control techniques with human as an actor and the robot as an agent who will imitate the movement of the actor. This method offers flexibility and ease to modify robot system. But, in imitation process also need to consider robot balance. In this research, motion capture will be implemented to control Biped robot with balance control which applied Zero Moment Point criterion in everychange that occur in robot motion. The study was conducted by using Microsoft Kinect as capture device and the direct implementation of the Biped robot with 12-DOF. The proposed method has been successfully developed, simulated, and evaluated on a real robot and give good results."

"The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as hardware of multi-locomotion robotic system. "

"Robot motion control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2011. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed, design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors, new control algorithms for industrial robots, nonholonomic systems and legged robots, and different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others, multiagent systems consisting of mobile and flying robots with their applications."