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All Journal Rotasi ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika JOIV : International Journal on Informatics Visualization The Indonesian Journal of Computer Science Advance Sustainable Science, Engineering and Technology (ASSET)
Dewanto, Raden Sanggar
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Chemistry Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Mechanical Engineering

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Journal : The Indonesian Journal of Computer Science

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Analisis Kinematika Maju dari Tangan Robotik Berjari 4 yang Digunakan pada Robot Humanoid T-FLoW Apriandy, Kevin; Dewantara, Bima Sena Bayu; Dewanto, Raden Sanggar; Pramadihanto, Dadet
The Indonesian Journal of Computer Science Vol. 12 No. 4 (2023): The Indonesian Journal of Computer Science (IJCS)
Publisher : AI Society & STMIK Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33022/ijcs.v12i4.3291

Abstract

Model kinematika merupakan bagian penting dalam pengembangan robot humanoid karena dapat merepresentasikan karakteristik dari robot, membuat pemahaman tentang robot menjadi lebih mudah. Mengingat perkembangan robot humanoid T-FLoW yang saat ini dilengkapi dengan sepasang tangan baru, maka perlu dibangun model kinematika untuk memahami lebih lanjut tentang tangan robot baru tersebut. Oleh karena itu, dalam pekerjaan ini, disajikan sebuah analisis kinematika maju untuk memperoleh model kinematika dari tangan berjari 4 baru robot humanoid T-FLoW. Dengan menggunakan pendekatan matriks transformasi homogen, model kinematika tangan robot diturunkan berdasarkan perkalian beberapa matriks rotasi dan matriks translasi yang tersusun dari frame koordinat pangkal ke frame koordinat tujuan. Model kinematika yang diturunkan disimulasikan dalam tugas gerak dasar tangan: menggenggam sebuah benda, dihitung dengan bantuan MATLAB, dan divisualisasikan menggunakan fitur plot 3D MATLAB. Hasil menunjukkan bahwa model tersebut memberikan berbagai karakteristik tangan robot seperti konfigurasi, posisi sendi, dan posisi end-of-effector, yang kemudian dapat divisualisasikan menjadi kerangka tangan. Kedepannya, pekerjaan kami dapat memfasilitasi pengembang T-FLoW dalam membangun pergerakan tangan dengan sistem umpan balik, yang kemudian dapat digunakan untuk menyelesaikan berbagai permasalahan desain gerakan tangan. Kinematics models are important part of humanoid robot development as they can represent the characteristics of the robot, making understanding the robot easier. Given the development of the T-FLoW humanoid robot which is currently equipped with a new pair of hands, it is necessary to build a kinematics model to understand more about the new robot hands. Therefore, in this work, a forward kinematics analysis is presented to derive the kinematics model of the new 4-fingered T-FLoW humanoid robot hand. Using a homogeneous transformation matrix approach, the kinematics model of the robot hand is derived based on the multiplication of several rotation and translation matrices arranged from the base coordinate frame to the goal coordinate frame. The derived kinematics model is simulated in a basic hand motion task: grasping an object, calculated with the help of MATLAB, and visualized using MATLAB's 3D plot feature. The results show that the model provide various characteristics of the robot hand such as configuration, joint positions, and end-of-effector positions, which then be visualized into a hand skeleton. In the future, our work can facilitate T-FLoW developers in building hand movement and feedback systems, which then can be used to solve various hand motion design problems.
Pengembangan Sistem Sensor berbasis Tekanan Udara untuk Deteksi Kontak Kaki Robot Dwi Prasetyo, Wahyu Agung; Darmawan, Adytia; Dewanto, Raden Sanggar; Alfathdyanto, Khairurizal
The Indonesian Journal of Computer Science Vol. 14 No. 2 (2025): The Indonesian Journal of Computer Science
Publisher : AI Society & STMIK Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33022/ijcs.v14i2.4757

Abstract

Legged robot is preferred choice for travesing uneven terrain. Robot leg can be positioned dynamically to achieve better locmotion. Detection of the leg contact point became more of essential part for the unpredictable course. The common method by deploying resistive force sensor provides a binary condition of whether the leg has touches surface. This paper explores the possibility of implementing air pressure sensor on a sensor system to provide more information at robot leg contact point. Air pressure sensor can provide a more wide and continuous range of value that fluctuates along the contact rate of the leg. Verification of the study uses single leg part of dog-type quardruped. The sensor testing gave the output value with average error of 1,3%. The pressure sensor provides readings at around ± 40ms with maximum readable pressure of 1,5 kPa.
Co-Authors Adi Sucipto, Adi AL BANNA, M. RIZQI HASAN Alfathdyanto, Khairurizal Ali Ridho Barakbah Apriandy, Kevin APRIANDY, KEVIN ILHAM Bima Sena Bayu Dewantara Dadet Pramadihanto Darmawan, Adytia Dwi Prasetyo, Wahyu Agung Eko Henfri Binugroho Maulana, Himmawan Sabda Mentari Putri Jati MOCHAMAD ARI BAGUS NUGROHO Rusli, Muhammad Rizani Ryan Satria Wijaya Syahputra, Dimas Novian Aditia Teguh Hady Ariwibowo ULURRASYADI, FAIZ