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This Author published in this journals
All Journal IAES International Journal of Robotics and Automation (IJRA) Journal of Advanced Technology and Multidiscipline (JATM)
Mahmud Iwan Solihin
UCSI University
Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Computer Science & IT Electrical & Electronics Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology

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A Brief Survey Paper on Multi-Legged Robots Mohammad Behmanesh; Ehsan Amiri Tehranizadeh; Mahmud Iwan Solihin
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (882.167 KB) | DOI: 10.11591/ijra.v4i1.pp41-52

Abstract

This paper presents a brief survey on multi-legged robots and their applications in agriculture such as for harvesting. Multi-legged robots have the benefit of more flexibility and adapt to different rough terrain in a better way. They also have very important applications in fulfilling the dangerous tasks such as mine detecting.
Self-motion behaviors of kinematically redundant manipulator for continuous path planning Setyamartana Parman; Mahmud Iwan Solihin
Journal of Advanced Technology and Multidiscipline Vol. 1 No. 1 (2022): Journal of Advanced Technology and Multidiscipline
Publisher : Faculty of Advanced Technology and Multidiscipline Universitas Airlangga

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (606.217 KB) | DOI: 10.20473/jatm.v1i1.39600

Abstract

This paper presents self-motion behaviors of 3-DOF planar robotic arm when it tracks a predefined end-effector path. In this case, the self-motion contributes to geometry of a motion envelope. The Bezier curve degree fifth is utilized as the tracked path. Different geometry of the motion envelope can be used to avoid collision while it also follows the tracked path accurately. A theta global as closed form solution of 3-DOF planar robot is modeled as a polynomial degree sixth. A Genetic Algorithm (GA) as one of meta-heuristic optimizations is used to find optimal solution of the path planning approach. An effect of initial and final joint angles in the robotic arm motion is also investigated. The theta global trajectories are also possible to contain an imaginary number. The imaginary number of the theta global trajectories can be used as a sign that position errors are present and the trajectories need to be repaired using the self-motion analysis.
Co-Authors Ehsan Amiri Tehranizadeh Mohammad Behmanesh Setyamartana Parman