Electronic Theses and Dissertation

Perkembangan teknologi robotika menuntut peningkatan akurasi dan efisiensi
gerak, khususnya pada robot hexapod yang digunakan dalam Kompetisi Robot
SAR Indonesia (KRSRI) untuk simulasi penyelamatan korban bencana, di mana
stabilitas langkah dan kemampuan manuver menjadi aspek yang sangat krusial.
Pada penelitian ini diterapkan metode inverse kinematik untuk mengatasi
berbagai permasalahan pada sistem sebelumnya yang masih menggunakan
forward kinematik, seperti lintasan gerak maju yang tidak stabil dan cenderung
zig-zag, ketergantungan pada proses trial and error dalam menentukan sudut
servo, serta rendahnya akurasi konfigurasi gerak kaki robot. Implementasi
inverse kinematik dilakukan melalui perancangan model geometri kaki robot,
penentuan nilai zeroing servo, serta integrasi perhitungan matematis ke dalam
program Arduino IDE. Pengujian dilakukan pada beberapa manuver utama, yaitu
melangkah maju, mundur, berbelok, dan berputar, serta dibandingkan dengan
hasil metode sebelumnya. Hasil penelitian menunjukkan bahwa inverse
kinematik mampu meningkatkan akurasi dan kestabilan gerak robot, ditunjukkan
dengan rata-rata error langkah maju sebesar 14,9%, mundur 11,8%, berbelok
kanan 10%,3 berbelok kiri 12,6%, dan berputar sekitar 7,5%, yang jauh lebih
baik dibandingkan rata-rata error 24% pada metode forward kinematik ketika
dalam bermanuver melangkah maju. Selain itu, pengaturan jarak langkah
menjadi lebih mudah dan intuitif karena berbasis koordinat jarak, bukan sudut
servo. Secara keseluruhan, penerapan inverse kinematik terbukti meningkatkan
performa manuver robot hexapod KRSRI KROENG.

The advancement of robotics technology demands improved motion accuracy and efficiency, particularly in hexapod robots used in the Indonesian Search and Rescue Robot Competition (KRSRI) for disaster victim rescue simulations, where gait stability and maneuverability are highly critical aspects. In this study, the inverse kinematics method is implemented to address various issues in the previous system that still relied on forward kinematics, such as unstable forward trajectories that tended to zigzag, dependence on trial-and-error processes in determining servo angles, and low accuracy in robot leg motion configuration. The implementation of inverse kinematics was carried out through the design of the robot leg geometric model, determination of servo zeroing values, and integration of mathematical computations into the Arduino IDE program. Testing was conducted on several primary maneuvers, namely forward stepping, backward stepping, turning, and rotation, and the results were compared with those of the previous method. The results show that inverse kinematics is able to improve the accuracy and stability of robot motion, indicated by the average errors of 14.9% for forward stepping, 11.8% for backward stepping, 10.3% for right turning, 12.6% for left turning, and approximately 7.5% for rotation, which are significantly better than the 24% average error of the forward kinematics method during forward stepping maneuvers. In addition, step distance adjustment becomes easier and more intuitive because it is based on distance coordinates rather than servo angles. Overall, the application of inverse kinematics has been proven to improve the maneuvering performance of the KRSRI KROENG hexapod robot.