Designing and Implementing Trajectory Planning and Inverse Kinematics Algorithms using Hexapod Robot Platform
Miftachul Ulum, M. Khoirut, Haryanto Haryanto, Riza Alfita, Diana Rahmawati, Kunto Aji Wibisono, Achmad Fiqhi Ibadillah
Available Online December 2018.
- https://doi.org/10.2991/icst-18.2018.164How to use a DOI?
- Hexapod, Inverse Kinematics, Trajectory Planning
- 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.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
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 - https://doi.org/10.2991/icst-18.2018.164 ID - Ulum2018/12 ER -