Programming Kinematic Angles in Robot Leg Joints to Stabilize Forward Motion of Quadruped Robots

Authors

  • Akhmad Rizal Dzikrillah Muhammadiyah University Prof. Dr. Hamka
  • Gripsy Adeep Firmansyah Muhammadiyah University Prof. Dr. Hamka
  • Abrar Dhiya Rabbani Muhammadiyah University Prof. Dr. Hamka
  • Yoga Budi Santoso Muhammadiyah University Prof. Dr. Hamka
  • Malik Emir Hafta Muhammadiyah University Prof. Dr. Hamka
  • Rosalina Muhammadiyah University Prof. Dr. Hamka
  • Fadhlan Nurrachman Muhammadiyah University Prof. Dr. Hamka

Keywords:

robot quadruped, pemrograman sudut kinematis, quadruped robots, kinematic angle programming

Abstract

In the 2023 Indonesian SAR robot contest, intelligent robots from each university compete to score by carrying orange mini dolls to designated locations. Robots must overcome various difficult obstacles. The intelligent robot in the competition is a legged robot that has clamps for holding mini dolls. Servo motors are one of the motors that are often used in legged robot joints. This research aims to program the kinematic angles of the joints of a legged robot so that it is able to traverse the 2023 SAR Robot Contest arena and its obstacles stably. By using 4 legs, namely front-right, front-left, rear-right and rear-left and using 3 servo motors on each leg, the robot can walk stably after programming certain kinematic angles on the servo motor. The robot is programmed to have 7 phases of movement between the legs that are aligned with a delay of 500 milliseconds for each phase. The robot can walk stably over all obstacles in the KRSRI 2023 robot arena except for the uphill stairs.

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Author Biographies

Akhmad Rizal Dzikrillah, Muhammadiyah University Prof. Dr. Hamka

Faculty of Industrial Technology and Informatics, Department of Informatics Engineering, Universitas Muhammadiyah Prof. Dr. Hamka

Gripsy Adeep Firmansyah, Muhammadiyah University Prof. Dr. Hamka

The student is majoring in Informatics Engineering at the Faculty of Industrial Technology and Informatics, Prof. Dr. Hamka University

Abrar Dhiya Rabbani, Muhammadiyah University Prof. Dr. Hamka

The student is majoring in Informatics Engineering at the Faculty of Industrial Technology and Informatics, Prof. Dr. Hamka University

Yoga Budi Santoso, Muhammadiyah University Prof. Dr. Hamka

The student is majoring in Informatics Engineering at the Faculty of Industrial Technology and Informatics, Prof. Dr. Hamka University

Malik Emir Hafta, Muhammadiyah University Prof. Dr. Hamka

The student is majoring in Informatics Engineering at the Faculty of Industrial Technology and Informatics, Prof. Dr. Hamka University

Rosalina, Muhammadiyah University Prof. Dr. Hamka

The student is majoring in Informatics Engineering at the Faculty of Industrial Technology and Informatics, Prof. Dr. Hamka University

Fadhlan Nurrachman, Muhammadiyah University Prof. Dr. Hamka

The student is majoring in Informatics Engineering at the Faculty of Industrial Technology and Informatics, Prof. Dr. Hamka University

References

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Published

2023-12-13

How to Cite

Akhmad Rizal Dzikrillah, Gripsy Adeep Firmansyah, Abrar Dhiya Rabbani, Yoga Budi Santoso, Malik Emir Hafta, Rosalina, & Fadhlan Nurrachman. (2023). Programming Kinematic Angles in Robot Leg Joints to Stabilize Forward Motion of Quadruped Robots. Prosiding Seminar Nasional Teknoka, 8, 1–4. Retrieved from https://journal.uhamka.ac.id/index.php/teknoka/article/view/13785

Issue

Vol. 8 (2023): Proceeding of TEKNOKA National Seminar - 8

Section

Teknik Elektro

License

Copyright (c) 2023 Prosiding Seminar Nasional Teknoka

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