Email this article 
Hide
Show all
Analisis Kinematika dan Pola Gerakan Berjalan pada Robot Bipedal Humanoid T-FLoW 3.0
Abstract
ABSTRAK
Robot humanoid merupakan robot menyerupai manusia dengan tingkat kompleksitas yang tinggi dan fungsi yang serbaguna. Pada penelitian ini dilakukan analisis model kinematika gerak pada robot bipedal humanoid TFLoW 3.0, serta menganalisis pola gerakan berjalannya. Pola pergerakan yang diimplementasikan pada robot bipedal TFLoW 3.0 merupakan hasil pendekatan dari teori cara berjalan manusia dengan menggunakan enam gerakan dasar manusia saat berjalan. Kemudian menganalisis model gerakan robot menggunakan kinematika terbalik dengan solusi geometri. Tujuan dari model kinematika terbalik adalah untuk mengubah data input berupa posisi kartesian menjadi nilai sudut untuk setiap parameter joint pada masing-masing Degrees of Freedom (DoF). Lalu dilakukan analisis model mekanik robot saat berjalan yang terbagi atas fase tegak dan fase berayun yang bertujuan untuk mengetahui hasil pengujian.
Kata kunci: robot humanoid, gaya berjalan, kinematika, TFLoW, DoF.
Â
ABSTRACT
Humanoid robots are human-like robots with a high level of complexity and versatile functions. In this study, kinematics analyze on TFLoW 3.0 humanoid bipedal robot is carried out, as well as analyzing the pattern of its walking movement. The implemented movement of TFLoW 3.0 bipedal robot is the result of an approach from human walk using six basic human movements when walking. the robot movement model is analyzed by inverse kinematics with geometric solutions. Invers kinematics model is to transform the input data in the form of a Cartesian position into an angle value for each joint parameter in each Degrees of Freedom (DoF). Then an analysis of the robot's mechanical model when walking is carried out which is divided into a stance phase and a swinging phase which aims to determine the test results.
Keywords: humanoid robot, gait, kinematics, TFLoW, DoF.
Keywords
Full Text:
PDF (Bahasa Indonesia)References
Aoi, S., Ohashi, T., Bamba, R., Fujiki, S., Tamura, D., Funato, T., Senda, K., Ivanenko, Y., & Tsuchiya, K. (2019). Neuromusculoskeletal model that walks and runs across a speed range with a few motor control parameter changes based on the muscle synergy hypothesis. Sci. Rep. 9, 369.
Arfaq, M., Dewanto, R.S., & Pramadihanto, D. (2018). Fall Detection in T-FLoW Humanoid Robot: V-REP Simulation. 2018 International Electronics Symposium on Engineering Technology and Applications (IES-ETA), IEEE, Bali, (pp. 224–228).
Castermans, T., Duvinage, M., Cheron, G., & Dutoit, T. (2013). Towards Effective Non-Invasive Brain-Computer Interfaces Dedicated to Gait Rehabilitation Systems. Brain Sci. 4, 1–48.
Dimas Pristovani, R., Rindo, W.M., Henfri, B.E., Subhan, K.H.A., & Pramadihanto, D. (2016). Basic walking trajectory analysis in FLoW ROBOT. 2016 International Electronics Symposium (IES), IEEE, Denpasar, (pp. 329–334).
Matthis, J.S., Barton, S.L., & Fajen, B.R. (2017). The critical phase for visual control of human walking over complex terrain. Proc. Natl. Acad. Sci. 114, E6720–E6729.
Moltedo, M., BaÄek, T., Verstraten, T., Rodriguez-Guerrero, C., Vanderborght, B., & Lefeber, D. (2018). Powered ankle-foot orthoses: the effects of the assistance on healthy and impaired users while walking. J. NeuroEngineering Rehabil. 15, 86.
Nashihin, D., Dimas Pristovani, R., Sandi Marta, B., Dewanto, R.S., & Pramadihanto, D. (2018). Multivariable Control for Jumping Mechanism of T-FLoW Humanoid Robot. 2018 International Electronics Symposium on Engineering Technology and Applications (IES-ETA), IEEE, Bali, (pp. 260–265).
Noreils, F.R. (2017). Inverse kinematics for a Humanoid Robot : a mix between closed form and geometric solutions. Technical Report, 1-31.
Pristovani, R.D., Ajir, Henfri, B.E., Subhan, K.A., Sanggar, D., & Pramadihanto, D. (2017a). Implementation of direct pass strategy during moving ball for “T-FLoW†Humanoid Robot. 2017 2nd International Conferences on Information Technology, Information Systems and Electrical Engineering (ICITISEE), IEEE, Yogyakarta, (pp. 223–228).
Pristovani, R.D., Henfri, B.E., Sanggar, Dewanto., & Pramadihanto, D. (2017b). Walking strategy model based on zero moment point with single inverted pendulum approach in “T-FLoW†humanoid robot. 2017 2nd International Conferences on Information Technology, Information Systems and Electrical Engineering (ICITISEE), IEEE, Yogyakarta, (pp. 217–222).
Pristovani, R.D., Sanggar, D.R., & Pramadihanto, D. (2018). Implementation of Push Recovery Strategy Using Triple Linear Inverted Pendulum Model in “T-FloW†Humanoid Robot. J. Phys. Conf. Ser. 1007, 012068.
Sari, W.P., Sanggar Dewanto, R., & Pramadihanto, D. (2019). Kinematic and Dynamic Modelling of “T-FLoW†Humanoid Robot for Ascending and Descending Stair. 2019 International Electronics Symposium (IES), IEEE, Surabaya, Indonesia, (pp. 82–87).
Sen, M.A., Bakircioglu, V., & Kalyoncu, M. (2017). Inverse Kinematic Analysis Of A Quadruped Robot. International Journal Of Scientific & Technology Research 6, 5.
Sucipto, A., Dewanto, R.S., & Pramadihanto, D. (2021). Gerak Robot Berkaki Dua menggunakan ROS dan RViz sebagai Visualisasi Interaktif. ELKOMIKA: J. Tek. Energi Elektrik. Tek. Telekomunikasi. Tek. Elektro. 9, 43.
Sucipto, A., Dewanto, S., & Pramadihanto, D. (2019). Dynamic Stability Walking On Inclined Surface For “T-FloW†Humanoid Robot Using Design Pattern Step. 2019 International Electronics Symposium (IES), IEEE, Surabaya, Indonesia, (pp. 100–104).
DOI: https://doi.org/10.26760/elkomika.v10i1.31
Refbacks
_______________________________________________________________________________________________________________________
ISSN (print) : 2338-8323 | ISSN (electronic) : 2459-9638
Publisher:
Department of Electrical Engineering Institut Teknologi Nasional Bandung, Indonesia
Address: 20th Building Institut Teknologi Nasional Bandung PHH. Mustofa Street No. 23 Bandung 40124, Indonesia
Contact: +627272215 (ext. 206)
Email: jte.itenas@itenas.ac.id
________________________________________________________________________________________________________________________
Jurnal ini terlisensi oleh Creative Commons Attribution-ShareAlike 4.0 International License.
