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All Journal JURNAL MEDIA INFORMATIKA BUDIDARMA Jurnal Sains dan Informatika PROCESSOR Jurnal Ilmiah Sistem Informasi, Teknologi Informasi dan Sistem Komputer Jurnal Ilmiah Media Sisfo Building of Informatics, Technology and Science JIKI (Jurnal Ilmu Komputer dan Informatika) Jurnal Informatika Dan Tekonologi Komputer (JITEK) Jurnal Informatika dan Rekayasa Komputer Jurnal Manajemen Teknologi dan Sistem Informasi Jurnal Manajemen Sistem Informasi The Indonesian Journal of Computer Science Jurnal Pengabdian Masyarakat Unama
Chindra Saputra
Universitas Dinamika Bangsa
Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Mathematics Other

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Journal : Building of Informatics, Technology and Science

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Kontrol Navigasi Robot Hexapod berbasis Inverse Kinematic dan Body Kinematic untuk Stabilitas Optimal di Medan Ekstrem Pratama, Yovi; Saputra, Chindra; Toscany, Afrizal Nehemia; Bustami, M Irwan; Taupiq, Arahmad
Building of Informatics, Technology and Science (BITS) Vol 6 No 3 (2024): December 2024
Publisher : Forum Kerjasama Pendidikan Tinggi

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.47065/bits.v6i3.6007

Abstract

This study discusses the application of Inverse Kinematics (IK), Body Kinematics (BK), and Bézier Curves in a hexapod robot to efficiently control leg movements in a three-dimensional space. IK is used to calculate joint angles based on the desired target position, while BK enables adjustments to the robot's body posture to maintain stability during movement. Simulations demonstrate that these two approaches can produce accurate and controlled movements. Additionally, Bézier Curves are applied to the foot trajectory, significantly enhancing the smoothness of movements and the robot's stability during transitions from one step to the next. Testing the hexapod robot over a distance of 2.10 meters showed a 70% success rate with an average error of 4.2 cm. Further testing of the robot's stability on an inclined X-axis revealed that the robot could adapt to inclines up to 35 degrees; however, at inclines exceeding 35 degrees, the robot was unable to maintain balance. Based on the results, it can be concluded that the combination of IK, BK, and Bézier Curves effectively supports the hexapod robot's movement with a step accuracy of 70% and high stability when adapting to inclines up to 35 degrees. Improving stability in more extreme terrains and enhancing performance in more diverse environments are the primary focuses for maximizing the hexapod robot's capabilities.
Co-Authors Abdul Harris Afrizal Nehemia Toscany Arahmad Taupiq Bustami, M Irwan Bustami, M. Irwan Bustasmi, M.Irwan Cahyana Putra Pratama Dodi Sandra Effiyaldi, Effiyaldi Hansen, Hansen Hendy Saryanto Husaein, Ahmad Irawan Istoningtyas , Marrylinteri Janu Hadi Susilo Jasmir Jumersyah Pratama, Raka KARMAN, ZULFI Kisbianty , Desi Kurniabudi Kurniabudi, Kurniabudi M. Irwan Bustami M. Irwan Bustasmi M.Irwan Bustasmi Mhd Ridho Saputra Muhammad Irwan Bustami Muhammad Rafly Ramadhan MUHAMMAD SURYA Nabila Kamila Hasna Nugroho, M. Restu Pareza Alam Jusia ROBY SETIAWAN Setiawan Assegaf SIKA, XAVERIUS Sutoyo, Mochammad Arief Hermawan taupiq, Arahmad Toscany, Afrizal Wahyu Nugraha Xaverius Sika Xaverius Sika YOSE, IMELDA Yovi Pratama Yulia Arvita Yulvianda, Renaldi ZULFI KARMAN