Hexapod robot technology has developed rapidly, starting from robots that can work independently (autonomously) to robots that are controlled via smartphones. In this research, we will design a 6-legged robot (hexapod) that can move stably and follow the commands given. The ESP32 DevKit microcontroller module is used as the center of the hexapod robot control system because it has many digital inputs and outputs, has I2C serial communication, and also has wireless communication. One method used to obtain stable robot movement is to use an inertial measurement unit (IMU) sensor, which is capable of producing angular movement data in a 3-dimensional plane on the pitch (ϕ), roll (θ) and yaw (ψ) axes. The shape of the hexapod robot body is made so that it can be easily integrated with the robot legs that will be used. To drive the robot's legs, a servo motor is used for each joint. Each robot leg consists of 3 joints, so the 6-legged robot drive system requires 18 units of servo motors. Inverse kinematics with a PID control system can control robot movement by applying a tripod gait step pattern. The smartphone is used to control the direction of movement of the hexapod robot in forward, backward, left turn, right turn, and stop directions using a Bluetooth or WiFi connection. Based on the test results, the hexapod robot can be appropriately controlled according to the commands given via smartphone. The test results of 5 meters in a straight direction for forward and backward movement produced a robot speed of around 20cm/S with a deviation error ranging between 7% - 9% from the target point. ABSTRAK: Teknologi robot hexapod telah berkembang pesat, mulai dari robot yang dapat bekerja secara mandiri (autonomous) maupun robot yang dikendalikan melalui smartphone. pada penelitian ini akan merancang bangun robot berkaki 6 (hexapod) yang mampu bergerak dengan stabil dan sesuai dengan perintah yang diberikan. Modul mikrokontroler ESP32 DevKit digunakan sebagai pusat sistem kendali robot hexapod karena memiliki banyak ...


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    Title :

    RANCANG BANGUN KENDALI ROBOT HEXAPOD MENGGUNAKAN SMARTPHONE


    Contributors:

    Publication date :

    2023-11-13


    Remarks:

    TESLA: Jurnal Teknik Elektro; Vol. 25 No. 2 (2023): TESLA: Jurnal Teknik Elektro; 139-151 ; TESLA: Jurnal Teknik Elektro; Vol 25 No 2 (2023): TESLA: Jurnal Teknik Elektro; 139-151 ; 2655-7967 ; 1410-9735


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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