ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika
Vol 14, No 2: Published April 2026

Performance Analysis of Inverse Kinematics-Based Balance Control for Hexapod Stair Navigation

HERYAMAN, SYAFFEL SEAN RIZKINATA (Unknown)
ANAM, KHAIRUL (Unknown)
MULDAYANI, WAHYU (Unknown)
CHAIDIR, ALI RIZAL (Unknown)
HERDIYANTO, DEDY WAHYU (Unknown)
RAMADHANI, CANDRA PUTRI RIZKIYAH (Unknown)
PUTRA, AVIQ NURDIANSYAH (Unknown)
SASONO, MUCHAMAD ARIF HANA (Unknown)

Article Info

Publish Date
30 Apr 2026

Abstract

Maintaining body stability is a key challenge for hexapod robots in stair navigation. This study proposes an inverse kinematics (IK)-based approach for dynamic balance control using real-time joint angle computation. Experimental results show that the method maintains body orientation near a neutral position, achieving a minimum pitch angle of 7.3°, thereby improving stability and reducing mechanical collision risk. System performance is also influenced by actuator speed and battery voltage.

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Journal Info
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika
Website

Abbrev

elkomika

Publisher

Institut Teknologi Nasional Bandung

Subject

Electrical & Electronics Engineering Engineering

Description

Jurnal ELKOMIKA diterbitkan 3 (tiga) kali dalam satu tahun pada bulan Januari, Mei dan September. Jurnal ini berisi tulisan yang diangkat dari hasil penelitian dan kajian analisis di bidang ilmu pengetahuan dan teknologi, khususnya pada Teknik Energi Elektrik, Teknik Telekomunikasi, dan Teknik ...