Jurnal Teknik Elektro
Vol 8, No 2 (2008): SEPTEMBER 2008

Perancangan Sistem Navigasi Otonom pada Behavior Based Hexapod Robot

Wicaksono, Handy ( Department of Electrical Engineering, Petra Christian University )
Prihastono, Prihastono ( Department of Electrical Engineering, University of Bhayangkara )
Anam, Khairul ( Department of Electrical Engineering, University of Jember )
Effendi, Rusdhianto ( Department of Electrical Engineering, Petra Christian University )
Sulistijono, Indra Adji ( Department of Mechatronics, Electronics Engineering Polytechnic Institute of Surabaya )
Kuswadi, Son ( Department of Mechatronics, Electronics Engineering Polytechnic Institute of Surabaya )
Jazidie, Achmad ( Department of Electrical Engineering, Petra Christian University )
Sampei, Mitsuji ( Department of Mechanical and Environmental Informatics, Tokyo Institute of Technology )



Article Info

Publish Date
08 Apr 2010

Abstract

Six legged robot (hexapod) has advantage over wheeled robot in its capability to walk over rough terrain. In this paper, hexapod mobility will be tested in order to measure its performance in walk through beam and stair. Behavior based architecture will be used in hexpod, so it can react quickly. Autonomous navigation application has been chosen here in order to prove that the architecture is running well. From simulation result, it can be seen that behavior based hexapod robot has good mobility (it can walk through obstacle that has 10 cm height) and it can accomplish its task to avoid the obstacles and find the light source. Abstract in Bahasa Indonesia: Robot berkaki enam (hexapod) memiliki kelebihan dibanding robot beroda dalam hal kemampuannya melewati daerah tidak rata. Pada penelitian ini, mobilitas pergerakan hexapod akan diuji untuk mengetahui performanya dalam melewati balok dan tangga. Supaya dapat bereaksi dengan cepat, maka arsitektur behavior based akan digunakan pada hexapod. Aplikasi navigasi otonom dipilih untuk menunjukkan bahwa arsitektur tersebut berjalan dengan baik. Dari hasil simulasi nampak bahwa behavior based hexapod robot memiliki mobilitas yang baik (mampu melewati halangan setinggi maksimal 10 cm) dan dapat menyelesaikan tugasnya untuk menghindari halangan dan menemukan sumber cahaya. Kata kunci: mobilitas, hexapod robot, behavior based architecture, sistem navigasi otonom

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