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All Journal International Journal of Reconfigurable and Embedded Systems (IJRES) Seminar Nasional Aplikasi Teknologi Informasi (SNATI) TELKOMNIKA (Telecommunication Computing Electronics and Control) Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Proceeding of the Electrical Engineering Computer Science and Informatics Buletin Ilmiah Sarjana Teknik Elektro Indonesian Journal of Electrical Engineering and Computer Science International Journal of Robotics and Control Systems Control Systems and Optimization Letters Signal and Image Processing Letters
Nuryono Satya Widodo
Universitas Ahmad Dahlan
Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering

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Journal : Control Systems and Optimization Letters

 1 
Implementation of Behavior Based Robotics on Hexapod Legged Robot Based on Room Mapping Salsabila, Zahra; Widodo, Nuryono Satya
Control Systems and Optimization Letters Vol 1, No 3 (2023)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v1i3.55

Abstract

The Indonesian Fire Fighting Robot Contest (KRPAI) has a mission to extinguish fires quickly, with various kinds of points and bonuses to be taken. The robot used in this research is a 6-legged robot (Hexapod). The problem faced today is the robot's ability to navigate the room, the robot still has to enter the same room, especially in room 1 (a room with 2 doors) so that the Arbitrary Start bonus or Variable Door location which prohibits the robot from entering the same room cannot be obtained. There is also a Room Factor bonus obtained using the JTS (Segment Distance) method which is an additional bonus when the robot walks outside the room. It is necessary to develop a room mapping algorithm with behavior based so that the robot can get maximum points. The main sensor used is the IMU BNO055 sensor as a robot direction orientation sensor, as well as a proximity sensor as a wall search sensor, so that the robot can know the direction when leaving and exploring the room, knowing the starting room, and ensuring the next room entered is a different room. The results of the test successfully made the robot take maximum points in the race.
DC Motor Controller Using Full State Feedback Setiawan, Naufal Rahmat; Ma'arif, Alfian; Widodo, Nuryono Satya
Control Systems and Optimization Letters Vol 1, No 1 (2023)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v1i1.3

Abstract

This paper discusses the implementation of a full state feedback control system on DC motors to stabilize the speed of DC motors and fight the disturbances given to DC motors. Modern controls such as full state feedback use 2 sensor inputs, namely the Hall effect speed sensor OH42E and the INA219 current sensor and use 3 parameters namely K1 (Constant 1), K2 (Constant 2), and KI (Integral Constant) in designing the controller, the goal is to get a good system response according to the desired design specifications. The test was carried out with a hardware-in-the-Loop (HIL) scheme which uses an Arduino microcontroller as a DC motor plant control device in the form of a control mathematical model entered in the Arduino IDE software and by trial and error to find the desired response value. The test results showed that at the values of K1=1, K2=1, KI=0.9, a stable system response was obtained with tr(s)=3, ts(s)=4, and Os(%)=7% The addition of an integral constant () value affects a short rising time but is inversely proportional to a high overshoot value as well. Varying the values of K1 and K2 as multipliers on the sensor values has an impact on the stability of the system response or oscillations. The stability of this system response indicates that full state feedback can be relied upon as a control system.
Simulation and Implementation of RSCUAD Walking Robot Based on ROS and Gazebo Simulator Andrean, Danu; Widodo, Nuryono Satya
Control Systems and Optimization Letters Vol 1, No 2 (2023)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v1i2.32

Abstract

This research describes the virtual humanoid robot R-SCUAD using the Gazebo simulator. In its development, humanoid robots often perform movements that have a negative impact on the robot's hardware, therefore the development of a virtual robot model is a solution to overcome this problem. So that the robot can be simulated before running. Gazebo is a robot simulator that allows to accurately simulate, design and test robots in various environments. Gazebo itself is a simulation used by ROS (robotic operating system). The simulation is built by doing a 3D design process in solidwork software and exported to a URDF file that matches the format on the ROS. Tests carried out on robots are by comparing virtual robots with real robots. From the tests carried out on the robot, it was found that the virtual robot can walk according to the real robot, such as falling if the robot's condition is not balanced. The simulation robot also moves according to the real robot when the controls are carried out.
Hexapod Robot Movement Control for Uneven Terrain Prasetio, Yusuf; Widodo, Nuryono Satya
Control Systems and Optimization Letters Vol 1, No 2 (2023)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v1i2.23

Abstract

Hexapod robot is a robot that has 6 legs with joints or structures that resemble insect legs. This study uses the inverse kinematic method with the aim of finding points and effectors of the robot's legs that will make the robot's legs pass through uneven obstacles such as uneven flor, stairs, bolong-bolong obstacles, bolong-non-obvious obstacles and non-objective obstacles. This inverse kinematic is accessed with the Open Cm 9.04 microcontroller to control the dynamixel servo on the robot leg. The results of testing the robot's movement using inverse kinematics have succeeded in overcoming uneven obstacles using the inverse kinematic method. For testing the stability of the robot it is still not stable enough because the mechanical part of the foot is still not precise. The conclusion of the study, from 6 trials that average and uneven obstacles were obtained in the range of 85% - 95%. The inverse kinematic method using a proximity sensor on the front of the robot, the average success that can be obtained is in the range of 80% - 90%.
Co-Authors Ahmad Imam Bardani Ahmad Sopi Samosir Alavandar, Srinivasan Alfian Ma’arif Andrean, Danu Anggit Pamungkas Arif Rahman Arif Rahman Muhammad Iqbalul Arsadiando, Watra Auzani Jidin Awang Jusoh Balza Achmad Bardani, Ahmad Imam Budi Santosa Darmawan Sutanto Dzulfiqar, Muhammad Dhia Fadli Maulana Faiq Hatta Gralo Yopa Rahmat Pratama Haris Ramdan Hatta, Faiq Hendril Satrian Purnama Hendril Satrian Purnama Ibnu Fauzi Ibnu Fauzi Irfan, Syahid Al Irmawan Maulana Jatmiko Tri Waluyo Kartika Firdausy Maulana, Irmawan Maydevanti, Yesa Friti Mizan, Bahrul Mochammad Facta Mohammad Iqbalul Faiq Hatta Muchlas, Muchlas Muhammad Dhia Dzulfiqar Muhammad Iqbalul, Arif Rahman Ngahzaifa Ab. Ghani Nik Rumzi Nik Idris Nurul Najihah Che Razali Prasetio, Yusuf Putra, Prasetya Murdaka Rizky Ajie Aprilianto Samosir, Ahmad Sopi Satrian Purnama, Hendril Sengsalong, Areepen Setiawan, Naufal Rahmat Shahreen Kasim Srinivasan Alavandar Syahid Al Irfan Syifak Izhar Hisham Tofik Nurochman Tole Sutikno Tri Wahono Wahono, Tri Waluyo, Jatmiko Tri Watra Arsadiando Wisnu Wulur zahra salsabila