Kontrol Navigasi Robot Hexapod berbasis Inverse Kinematic dan Body Kinematic untuk Stabilitas Optimal di Medan Ekstrem
-
Yovi Pratama
*
Universitas Dinamika Bangsa, Kota Jambi,
Indonesia
https://orcid.org/0000-0001-8001-7627
- Chindra Saputra Universitas Dinamika Bangsa, Kota Jambi, Indonesia
- Afrizal Nehemia Toscany Universitas Dinamika Bangsa, Kota Jambi, Indonesia
- M Irwan Bustami Universitas Dinamika Bangsa, Kota Jambi, Indonesia
- Arahmad Taupiq Universitas Dinamika Bangsa, Kota Jambi, Indonesia (*) Corresponding Author
Abstract
This study discusses the application of Inverse Kinematics (IK), Body Kinematics (BK), and Bézier Curves in a hexapod robot to efficiently control leg movements in a three-dimensional space. IK is used to calculate joint angles based on the desired target position, while BK enables adjustments to the robot's body posture to maintain stability during movement. Simulations demonstrate that these two approaches can produce accurate and controlled movements. Additionally, Bézier Curves are applied to the foot trajectory, significantly enhancing the smoothness of movements and the robot's stability during transitions from one step to the next. Testing the hexapod robot over a distance of 2.10 meters showed a 70% success rate with an average error of 4.2 cm. Further testing of the robot's stability on an inclined X-axis revealed that the robot could adapt to inclines up to 35 degrees; however, at inclines exceeding 35 degrees, the robot was unable to maintain balance. Based on the results, it can be concluded that the combination of IK, BK, and Bézier Curves effectively supports the hexapod robot's movement with a step accuracy of 70% and high stability when adapting to inclines up to 35 degrees. Improving stability in more extreme terrains and enhancing performance in more diverse environments are the primary focuses for maximizing the hexapod robot's capabilities.
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Copyright (c) 2024 Yovi Pratama, Chindra Saputra, Afrizal Nehemia Toscany, M Irwan Bustami, Arahmad Taupiq
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