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All Journal ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika
HERYAMAN, SYAFFEL SEAN RIZKINATA
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Electrical & Electronics Engineering Engineering

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Performance Analysis of Inverse Kinematics-Based Balance Control for Hexapod Stair Navigation HERYAMAN, SYAFFEL SEAN RIZKINATA; ANAM, KHAIRUL; MULDAYANI, WAHYU; CHAIDIR, ALI RIZAL; HERDIYANTO, DEDY WAHYU; RAMADHANI, CANDRA PUTRI RIZKIYAH; PUTRA, AVIQ NURDIANSYAH; SASONO, MUCHAMAD ARIF HANA
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 14, No 2: Published April 2026
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v14i2.261

Abstract

Maintaining body stability is a key challenge for hexapod robots in stair navigation. This study proposes an inverse kinematics (IK)-based approach for dynamic balance control using real-time joint angle computation. Experimental results show that the method maintains body orientation near a neutral position, achieving a minimum pitch angle of 7.3°, thereby improving stability and reducing mechanical collision risk. System performance is also influenced by actuator speed and battery voltage.
Co-Authors Ali Rizal Chaidir Anam, M. Khairul Dedy Wahyu Herdiyanto Putra, Aviq Nurdiansyah Ramadhani, Candra Putri Rizkiyah Sasono, Muchamad Arif Hana Wahyu Muldayani