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All Journal Journal of Computer, Electronic, and Telecommunication (COMPLETE) The Indonesian Journal of Computer Science
Febrianto, Rokhmat
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering

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Parameter Adjustment of EROS Humanoid Robot Soccer using a Motion Visualization Risnumawan, Anhar; Febrianto, Rokhmat; Sulistijono, Indra Adji; Kusumawati, Eny
Journal of Computer, Electronic, and Telecommunication (COMPLETE) Vol. 3 No. 1 (2022): July
Publisher : Telkom University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.52435/complete.v2i1.203

Abstract

Humanoid robot is a robot whose overall appearance is formed based on the human body and can interact with equipment and the environment created by humans. The robot's balance becomes fundamental in carrying out various tasks in designing humanoid robots. To deal with this, the adjustment of the humanoid robot movement is crucial in this work, research related to the virtual visualization of robots. Virtual robot visualization can be done by creating a simulator that contains dynamic parameters, including the physics of the robot. With the simulation containing dynamic parameters, the humanoid robot movement can be tried many times until the robot movement is robust. Applying the URDF (Unified Robot Description Format) model to the Gazebo simulator, which is supported by the ROS (Robot Operating System) framework, can make a simulator with dynamic parameters mimicking a real environment. In order to make a robust robot motion, feedback is needed in position and torque to find out the difference between simulation and reality. On the other hand, simulations can be done without cost or risk and, most importantly, mimic the actual robot soccer environment.
Design and Development of a Hybrid Tricopter Fixed-Wing UAV for Precision Agriculture Febrianto, Rokhmat; Yeoh, Jessie Charydon; Putra, I Gede Arinata Kusuma; Sasmito, Ayomi; Alfiansyah, Agung
The Indonesian Journal of Computer Science Vol. 13 No. 6 (2024): 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.v13i6.4489

Abstract

Precision Agriculture (PA) relies on innovative technologies to enhance efficiency and sustainability in agricultural practices. This study focuses on the design, simulation, and evaluation of a Hybrid Tricopter VTOL UAV tailored for PA applications. The UAV combines hover and fixed-wing flight modes, enabling versatility in data collection and farmland monitoring. Through rigorous simulations, the hover mission demonstrated the effectiveness of PID controllers in stabilizing roll, pitch, and yaw dynamics, achieving high positional accuracy with minimal error rates. The transition mission validated the UAV’s adaptability, showcasing smooth transitions between flight modes under varying tilt rates. Additionally, electronic component simulations confirmed the propulsion system operates efficiently within thermal and electrical limits, ensuring durability and energy efficiency. The findings highlight the UAV’s reliability, adaptability, and operational readiness, laying a foundation for advanced UAV applications in PA and beyond. This work underscores the potential of UAVs in optimizing agricultural productivity and sustainability.
Desain dan Pengembangan Lengan Robot SCARA 5-DOF untuk Pendidikan Robotika di Laboratorium STEM Febrianto, Rokhmat
The Indonesian Journal of Computer Science Vol. 13 No. 5 (2024): 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.v13i5.4373

Abstract

The development of a 5-degree-of-freedom (DOF) SCARA robot arm was successfully achieved for educational use within the CSL Laboratory at the School of Applied STEM, Universitas Prasetiya Mulya. The design utilizes cost-effective, locally sourced materials and an open-source control system based on Processing Java and Arduino C. These features make the SCARA robot arm an accessible tool for students to learn robotics, particularly in the areas of kinematics, control, and programming. Extensive testing of the robot’s inverse kinematics algorithm showed promising results, with average error rates of 1.20% for the Inner Arm, 4.21% for the Outer Arm, and 3.39% for the Z-axis. These low error rates highlight the robot’s precision in movement. This research not only met its objective of creating an accessible platform for teaching robotics but also demonstrated potential for future development in robotics education and industrial applications.
Co-Authors Alfiansyah, Agung Eny Kusumawati Indra Adji Sulistijono Putra, I Gede Arinata Kusuma Risnumawan, Anhar Sasmito, Ayomi Yeoh, Jessie Charydon