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All Journal IAES International Journal of Robotics and Automation (IJRA) Jurnal Informatika Jurnal Teknologi Informasi dan Ilmu Komputer International Journal of Advances in Intelligent Informatics Jurnal Ilmiah Dinamika Rekayasa (DINAREK) Jurnal Teknologi dan Sistem Komputer JTT (Jurnal Teknologi Terpadu) Knowledge Engineering and Data Science Indonesian Journal of Artificial Intelligence and Data Mining Prosiding SAKTI (Seminar Ilmu Komputer dan Teknologi Informasi) Journal of Robotics and Control (JRC) Science in Information Technology Letters Signal and Image Processing Letters
Achmad Fanany Onnilita Gaffar
Politeknik Negeri Samarinda
Aerospace Engineering Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Journal : Journal of Robotics and Control (JRC)

 1 
Modeling of 2-DOF Hexapod Leg Using Analytical Method Wajiansyah, Agusma; Supriadi, Supriadi; Gaffar, Achmad Fanany Onnilita; Putra, Arief Bramanto Wicaksono
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

Walking robot is one type of mobile platform that has locomotion type "walking." DOF (Degree Of Freedom) is one of essential character for the design of robot mechanism based on its models. Legs are the critical parts of the walking robot structure. The legged robot is the walking robot biologically adopted from animal or insect behavior, especially in their walking routine. The hexapod robot is one of the most statically stable legged robots and has high flexibility when standing or moving which supported by six legs that can be easily manipulated. For modeling needs and its validation, it is desirable to control each DOF in the space of Cartesian coordinate although motor system needs the reference inputs in the joint space. In this case, it needs to know the conversion between Cartesian and joint space, inverse, and forward kinematics. This study presents a kinematic model of the 2-DOF hexapod leg. This study aimed to build a kinematic model of the 2-DOF hexapod leg using an analytical approach. Analytically, the working mechanism of the robot can be modeled using forward and inverse kinematic models. In this method, this modeling is derived mathematically from the projection analysis of the movement in a certain coordinate space. The model validation was performed using the MATLAB tool and the Robotic Toolbox. The results of this study showed that the results of the inverse kinematic process have the same output signal pattern compare to the input signal pattern of the forward kinematic process.
Modeling of 2-DOF Hexapod Leg Using Analytical Method Agusma Wajiansyah; Supriadi Supriadi; Achmad Fanany Onnilita Gaffar; Arief Bramanto Wicaksono Putra
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25119

Abstract

Walking robot is one type of mobile platform that has locomotion type "walking." DOF (Degree Of Freedom) is one of essential character for the design of robot mechanism based on its models. Legs are the critical parts of the walking robot structure. The legged robot is the walking robot biologically adopted from animal or insect behavior, especially in their walking routine. The hexapod robot is one of the most statically stable legged robots and has high flexibility when standing or moving which supported by six legs that can be easily manipulated. For modeling needs and its validation, it is desirable to control each DOF in the space of Cartesian coordinate although motor system needs the reference inputs in the joint space. In this case, it needs to know the conversion between Cartesian and joint space, inverse, and forward kinematics. This study presents a kinematic model of the 2-DOF hexapod leg. This study aimed to build a kinematic model of the 2-DOF hexapod leg using an analytical approach. Analytically, the working mechanism of the robot can be modeled using forward and inverse kinematic models. In this method, this modeling is derived mathematically from the projection analysis of the movement in a certain coordinate space. The model validation was performed using the MATLAB tool and the Robotic Toolbox. The results of this study showed that the results of the inverse kinematic process have the same output signal pattern compare to the input signal pattern of the forward kinematic process.
Optimization of Humanoid Robot Leg Movement Using Open CM 9.04 Wajiansyah, Agusma; Malani, Rheo; Supriadi, Supriadi; Gaffar, Achmad Fanany Onnilita
Journal of Robotics and Control (JRC) Vol 3, No 5 (2022): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i5.15071

Abstract

The Indonesian Robot Dance Contest (KRSTI) is a branch of the Indonesian Robot Contest (KRI) with the theme of dance. The robot used is a humanoid robot that can dance. Every year at the event, the provisions for robots constantly change, both the type of dance being demonstrated and the requirements for the robot's height. The taller the robot, the more difficult it is to control its walking movements because of the load it carries. This study uses a suitable algorithm to make the walking movement more natural and minimize the robot's falling. Human ROM data is used as a parameter for the range of motion of the servos that act as joints in the robot's legs. The algorithm created serves to determine the initial position of the angle on the servo to avoid the wrong initial movement position between one servo and another. The robot used is the Bioloid Robot’s leg Type A and uses OpenCM 9.04-A as the controller. The results showed that ROM on human feet could not be fully implemented on robot legs due to the robot's structure and the need for a robot that only relies on an algorithm to find the correct fulcrum to maintain balance. The comparison results show that the movement when walking on the ankle (ID servo 15) ranges from 749-567, while the ROM range is only between 580-512. When walking (servo ID 16), movement ranges from 460-291, while the ROM range ranges from 580-512.
Co-Authors Agusma Wajiansyah Agusma Wajiansyah Agusma Wajiansyah, Agusma Aji Prasetya Wibawa Alfiansyah, M Nur Andri Pranolo Anggri Sartika Wiguna Arrosied, Harun Diah Kumalasari Didi Susilo Budi Utomo Gaffar, Emmilya Umma Aziza Hargiani, Fransisca Xaveria Haviluddin Haviluddin Irwan Gani Karmita, Sisie Malani, Rheo Mirza Rafdi Rosada Muhammad Bagus Bintang Timur Muhammad Soleh Muhammad Taufiq Sumadi Mulyanto Mulyanto Pratiwi, Adinda Putri Purba, Muren Fiatra Denata Purnawansyah Purnawansyah Rayner Alfred Rihartanto Rihartanto Riris Kurnia Ningsih Rizka Indah Armianti Roman Voliansky RR. Ella Evrita Hestiandari Salsabila, Unik Hanifah Saputra, Arief Bramanto Wicaksono Sari, Risna Julia Suprapty, Bedi Supriadi Supriadi