Gerak Robot Berkaki Dua menggunakan ROS dan RViz sebagai Visualisasi Interaktif

ADI SUCIPTO, RADEN SANGGAR DEWANTO, DADET PRAMADIHANTO

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ABSTRAK

Pengembangan sistem operasi pada bidang robotika telah menjadi fokus utama pada era ini. Salah satu perkembangan sistem operasi pada teknologi robot saat ini adalah Robot Operating System (ROS) dengan RViz. ROS merupakan sistem operasi berbasis library dan beberapa tools untuk mengembangkan suatu program pada robot, sedangkan RViz merupakan visualisasi tiga dimensi yang dapat digunakan untuk memvisualisasikan robot dan data sensor dynamixel. Pada Penelitian kali ini, peneliti membuat simulasi beberapa gerakan yang dilakukan pada RViz dan kemudian diimplementasikan pada robot. Tingkat keberhasilan dari perencanaan gerakan ini memiliki rata rata error sebesar 1.8%. Gerakan condong ke kiri memiliki rata-rata error sebesar 0.83%. Gerakan condong ke kanan memiliki rata-rata error sebesar 0.84%. Gerakan mengangkat satu kaki memiliki rata-rata error sebesar 1.71%. Gerakan kaki kanan ke depan memiliki rata-rata error sebesar 3.83%.

Kata kunci: Robot Berkaki Dua, Robot Operating System (ROS), RViz (rosvisualization), Dynamixel Controller, Data Sensor Dynamixel.

 

ABSTRACT

The development of operating systems in the field of robotics has become the main focus of this era. One of the operating system developments in robot technology today is the Robot Operating System (ROS) with RViz. ROS is a library-based operating system and several tools for developing a program on robots, while RVIZ is a three-dimensional visualization that can be used to visualize robots and dynamixel sensor data. In this study, researchers made a simulation of some of the movements carried out on RViz and then implemented on robots. The success rate of planning this movement has an average error of 1.8%. Leaning to the left has an average error of 0.83%. Leaning to the right has an average error of 0.84%. One leg lift has an average error of 1.71%. The movement of the right foot forward has an average error of 3.83%.

Keywords: Biped Robot, Robot Operating System (ROS), RViz (Ros-Visualization), Dynamixel Controller, Sensor Dynamixel Data.


Kata Kunci


Robot Berkaki Dua; Robot Operating System (ROS); RViz (rosvisualization); Dynamixel Controller; Data Sensor Dynamixel.

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Referensi


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DOI: https://doi.org/10.26760/elkomika.v9i1.43

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