Pergerakan Jalan Stabil Robot Hexapod di Atas Medan yang Tidak Rata

Abstract

Over the years, natural disasters such as volcano eruption, landslide, as well as flood have occurred and caused victims. Immediate response is required to rescue them, however, detecting and rescuing victims accurately in natural disasters is not easy to be done. The dangerous area with a slippery and sloppy land, as well as the worry that there could be an aftershock disaster, makes it hard to be reached by the rescue team, to get into the area and detect victims. It takes so much time for them to detect and drive the ambulance to the desired location and bring the victims into the car. To solve those problems mentioned by using a robotic technology. The robotic technology can be used to rescue victims during natural disasters with design the prototype of a hexapod that implements inverse kinematics and gait algorithm. Hence, the robot can walk passing the uneven surface and keep being balanced. The hexapod robot is chosen because it has a good stability level when running. The hexapod robot is successfully tested in six different field conditions and is fully capable of maintaining stability in every test such as standing still on a moving surface, running on sloping surfaces, grass and sandy surfaces with a percent error of less than 10%.