METODE GAIT ROBOT PEMADAM API BERKAKI ENAM (HEXAPOD) PADA TRINITY COLLAGE FIRE FIGHTING HOME ROBOT CONTEST (TCFFHRC) 2019

DOME_INA is a hexapod robot controlled by STM32F4VET which drives the 18 AX-18 servo with half duplex communication. DOME_INA robot uses wave gait, ripple gait, and tripod gait step patterns accompanied by smooth mode. Robot road terrains follow the competition rules, which are wood boards coated with paint and carpet. From the tests conducted 10 times in the field arena, the average value in terms of distance error rate, gait wave when the carpet is at 13.6cm while the angle error is greater in gait gait when on the carpet at 48.50. The average value of distance error and lowest angle error when gait traveling on the board is 1cm and 20. The error value of distance and angle of gait tripod is not less and more than other gait ie 4cm and 150. Changes in the value of errors in each gait are influenced by factors The pitch is slippery media boards and rough carpets