PERANCANGAN BIPEDAL ROBOT PENJEJAK DINDING RUANG MENGGUNAKAN KENDALI PD

Abstract

Nowadays, world’s robotic move to high advance. Not only manipulator robot and wheeled robot but also research about legged robot have been done. It was proof with so many kind of legged robot made in colleges or companies area. There are many kind of legged robot like one legged robot, bipedal legged robot, tripod legged robot, quadruped legged robot, hexapod legged robot and multi legged robot. Bipedal robot is kind of legged robot that has the most difficulty to build but the most interesting to learnt because this robot walks with two legs like human so it also called humanoid robot. The big problem to make bipedal robot are automatic navigation system, realiable and balancing. The aim of this final project is designing and building bipedal robot that can follow the wall using PD control. This robot using PING)))TM parallax ultrasonic sensor as range sensor, servo motor as actuator and microcontroller ATmega 8535 and ATmega 32 and also C language as control unit. Based on result, bipedal robot can follows the wall well with Kp=10, Kd=0,5 and setting point 20 cm. Higher Kp value make bipedal robot turn right even rotation in the place. Bipedal robot can follows the wall with angle 90° - 210° . Length step maximal of bipedal robot may not more than 8 cm so it still controllable. Keyword: Bipedal robot, PD control, ATmega 8535, ATmega 32