Designing and Implementing Trajectory Planning and Inverse Kinematics Algorithms using Hexapod Robot Platform

DOI

10.2991/icst-18.2018.164How to use a DOI?

Keywords

Hexapod, Inverse Kinematics, Trajectory Planning

Abstract

Among various forms of developed robots, legged robots are often used to overcome problems that cannot be solved by wheeled robots. The often occurred problem while developing this typical robot is about the flexibility and efficiency of the robot movement. In addressing the problem, this research aimed to design and implement trajectory planning and inverse kinematics algorithms using hexapod robot platform with three degrees of freedom on each leg. The use of both algorithms models were to make the legged robots move smoother and easier to manage so that the robots would move according to the desired inputs. This research used smartphones as a support control system. By having 13 testing times with different angles, a perfectly moving robot corresponding to an input angle was amounted 31%, 54% for a moving robot with an offset angle below five degrees, and 15% for a robot moving with an offset angle above five degrees.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Miftachul Ulum
AU  - M. Khoirut
AU  - Haryanto Haryanto
AU  - Riza Alfita
AU  - Diana Rahmawati
AU  - Kunto Aji Wibisono
AU  - Achmad Fiqhi Ibadillah
PY  - 2018/12
DA  - 2018/12
TI  - Designing and Implementing Trajectory Planning and Inverse Kinematics Algorithms using Hexapod Robot Platform
BT  - Proceedings of the International Conference on Science and Technology (ICST 2018)
PB  - Atlantis Press
SP  - 805
EP  - 809
SN  - 2589-4943
UR  - https://doi.org/10.2991/icst-18.2018.164
DO  - 10.2991/icst-18.2018.164
ID  - Ulum2018/12
ER  -