Abstract
One of the main problems on humanoid robot is motion, which is related to the stability of the robot when walking. This problem can be solved by using static walking and dynamic walking method, and the application of zero moment point and inverse kinematics supported by inertial measurement unit (IMU) with also the application of Kalman filter method and Proportional Derivative (PD) controller. The PD controller uses feedback from IMU to improve the servo position obtained from the calculation of zero moment point and inverse kinematics during the robot walking. This research would be done by comparing results from previous research and direct examination of a humanoid robot to get its stability margin and velocity. The result of humanoid robot stability margin is 5.367 mm in X-axis and 10.567 mm in Y-axis, and its minimum velocity 0.0524 m/s and maximum velocity 0.0633 m/s on grass with altitude 3 cm and minimum velocity 0.0933 m/s and maximum velocity 0.1048 m/s on grass with altitude 1.5 cm.
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