SISTEM KONTROL GERAK ROBOT HEXAPOD MENGGUNAKAN ALGORITME TIGERPOD GAIT BERBASIS INVERSE KINEMATIC

Hexapod robot is animaloid robot like a six-legged spider. The legged robot mostly used in the world of robotics because the motion system of wheeled robot is limited. The legged robot can walk in uneven floor and the legged robot more unique shapes than the wheeled robot. One method to drive a leg robots is inverse kinematic, this method is more difficult for the user but it gives more precise results because the results of the focus system based on the requested endpoint. Movement algorithm that applied to hexapod robot for produce harmonic movement in each leg is wave gait movement algorithm, tripod gait movement algorithm, and tigerpod gait movement algorithm. The movement algorithms will be applied to the hexapod robot using inverse kinematic equations method for testing the accuracy of distance and travel time while robot movement. The results of this study is tigerpod gait movement algorithm that can control the robot hexapod, this algorithm would swing the robot body up and down when the robot moves. The level accuracy of precision speed robots are tripod gait movement algorithm = 70,12%, tigerpod gait movement algorithm = 95,02%, and wave gait movement algorithm = 57,31%. The best of movement algorithm to movement control system of the 1-DA hexapod robot is tigerpod gait movement algorithm