Modeling of 2-DOF Hexapod leg using analytical method

Wajiansyah, Agusma; Supriadi, Supriadi; Gaffar, Achmad Fanany Onnilita; Putra, Arief Bramanto Wicaksono

doi:10.18196/jrc.25119

Cited by 6 publications

(6 citation statements)

References 14 publications

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“…The Arduino microcontroller board can operate in real-time by connecting to the MATLAB & Simulink program. While other research studies have proposed various designs for the system, such as micro-robotics [83], Microgrid [84], mini drone [85], DC motor control [86], [87], BLDC motor [88], lane-keeping control [89], and hexapod robot [90], none of them have focused on image processing. Nonetheless, these studies illustrate the potential applications of robotic vision design in different areas of robotics.…”

Section: A Robotic Visionmentioning

confidence: 99%

Evaluation of Single and Dual image Object Detection through Image Segmentation Using ResNet18 in Robotic Vision Applications

Chotikunnan,

Puttasakul,

Chotikunnan

et al. 2023

Journal of Robotics and Control

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This study presents a method for enhancing the accuracy of object detection in industrial automation applications using ResNet18-based image segmentation. The objective is to extract object images from the background image accurately and efficiently. The study includes three experiments, RGB to grayscale conversion, single image processing, and dual image processing. The results of the experiments show that dual image processing is superior to both RGB to grayscale conversion and single image processing techniques in accurately identifying object edges, determining CG values, and cutting background images and gripper heads. The program achieved a 100% success rate for objects located in the workpiece tray, while also identifying the color and shape of the object using ResNet-18. However, single image processing may have advantages in certain scenarios with sufficient image information and favorable lighting conditions. Both methods have limitations, and future research could focus on further improvements and optimization of these methods, including separating objects into boxes of each type and converting image coordinate data into robot working area coordinates. Overall, this study provides valuable insights into the strengths and limitations of different object recognition techniques for industrial automation applications.

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Section: A Robotic Visionmentioning

confidence: 99%

Evaluation of Single and Dual image Object Detection through Image Segmentation Using ResNet18 in Robotic Vision Applications

Chotikunnan,

Puttasakul,

Chotikunnan

et al. 2023

Journal of Robotics and Control

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“…Perkembangan robotika yang pesat memberikan dampak kepada teknologi masa depan [1]. Kontes Robot Seni Tari Indonesia merupakan ajang kompetisi bidang robotika yang diselenggarakan oleh Direktorat Jenderal Pembelajaran dan Kemahasiswaan, Kementerian Riset, Teknologi, dan Pendidikan Tinggi [2] [3]. Institut Teknologi Kalimantan menjadi salah satu peserta pada kompetisi Kontes Robot Seni Tari Indonesia (KRSTI).…”

Section: Pendahuluanunclassified

Identifikasi Zona Warna Dengan Sensor TCS3200 Pada Robot KRSTI

Sugiarto,

Sulthana Hilmi,

Pradana

et al. 2023

jsisfotek

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Robot seni tari Engang ITK yang berpartisipasi dalam Kontes Robot Seni Tari Indonesia (KRSTI) saat ini belum dapat secara akurat mengidentifikasi zona warna di arena lomba. Kekurangan ini mengakibatkan robot menampilkan gerakan tarian yang tidak tepat sesuai lokasinya. Untuk mengatasi hal ini, diperlukan kontrol otomatis yang menggunakan sensor warna TCS3200. Sensor TCS3200 akan memperoleh informasi mengenai komposisi RGB secara akurat melalui perhitungan frekuensi. Hasil dari penelitian ini menunjukkan bahwa robot seni Engang ITK berhasil membedakan zona dengan memanfaatkan warna putih, biru, merah, hijau dan biru muda dengan tingkat keberhasilan sebesar 80%. Ketika robot mendeteksi warna yang sudah ditentukan untuk setiap zona, secara otomatis robot akan menampilkan gerakan tarian yang telah diprogram sesuai dengan zona. Ketika robot berpindah ke zona dengan warna yang berbeda, robot akan menghentikan gerakan menari pada zona sebelumnya dan memulai gerakan menari yang sesuai dengan zona yang baru. Meskipun demikian, terdapat banyak gangguan (noise) saat melakukan pengujian sehingga nilai RGB yang digunakan untuk mengatur gerakan tarian berubah-ubah, sehingga robot tidak responsif terhadap perintah yang dimasukkan ke dalam program. Nilai RGB yang stabil diperoleh ketika kondisi badan robot tegak lurus terhadap zona warna. Nilai inilah yang digunakan sebagai acuan untuk gerakan menari yang sesuai.

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“…From the results of testing all ultrasonic sensors, it can be seen that the farther the distance measured, the higher the error generated. The image below shows a comparison graph of test 1 and test 2 on all ultrasonic sensors (Wajiansyah et al, 2021;Wibowo et al, 2021;Yunardi et al, 2019).…”

Section: Ultrasonic Sensormentioning

confidence: 99%

Design and implementation the stability and direction of hexapod robot motion

Rangkuti¹,

Liestyowati²,

Syaripudin

2022

irjeis

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Robotics technology has developed rapidly and applied to various fields of work that cannot be done by humans. Many forms and types of robots used include the hexapod robot. The purpose of this research is to regulate the direction of the hexapod robot’s motion and be able to avoid obstacles to maintain the stability of its motion using a PID control system. In establishing a good control system, various types of sensors are used, those are ultrasonic and inertial measurement unit sensors. The shape of the hexapod robot is made to be integrated with the robot's legs. Each leg of the robot consists of 3 joints, joined by a servo motor. There are 18 servo motors. Eight ultrasonic sensors are used to detect surrounding objects, run well, and ability to avoid obstacles. The main orientation of the hexapod robot motion is to move forward, but if there are obstacles, it will find a solution to turn using ultrasonic sensors. An inertial measurement unit sensor is used to maintain the robot’s body’s stability.

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Modeling of 2-DOF Hexapod leg using analytical method

Cited by 6 publications

References 14 publications

Evaluation of Single and Dual image Object Detection through Image Segmentation Using ResNet18 in Robotic Vision Applications

Evaluation of Single and Dual image Object Detection through Image Segmentation Using ResNet18 in Robotic Vision Applications

Identifikasi Zona Warna Dengan Sensor TCS3200 Pada Robot KRSTI

Design and implementation the stability and direction of hexapod robot motion

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