TY - GEN
T1 - Swing Trajectory Model for the New Design of Quadruped Robot Using V-REP Simulator
AU - Wasista, Sigit
AU - Tjandrasa, Handayani
AU - Wibisono, Waskitho
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/17
Y1 - 2020/11/17
N2 - This paper proposes three robot leg swing trajectory models as a test of periodic balanced motion on a new medium-sized four-legged robot design called 'Kancil-V2', which has 4 arms with 2 freedoms (4 x 2-DOF) with an overall weight of 5kg. The robot is tested by using all three algorithm swing trajectory models. From the simulation results, the proposed robot can run well on a flat surface while maintaining its balance. Testing of robot movement is carried out by moving the robot forward a few seconds, then backward so that the sequence of the swing trajectory model can be determined which can return to its closest starting point, namely: first is the Parabola model with a distance of-0.1259, second is the Xin Jin model with a distance of 0.5473 and the third is the Triangular distribution model with a distance of 0.5322.
AB - This paper proposes three robot leg swing trajectory models as a test of periodic balanced motion on a new medium-sized four-legged robot design called 'Kancil-V2', which has 4 arms with 2 freedoms (4 x 2-DOF) with an overall weight of 5kg. The robot is tested by using all three algorithm swing trajectory models. From the simulation results, the proposed robot can run well on a flat surface while maintaining its balance. Testing of robot movement is carried out by moving the robot forward a few seconds, then backward so that the sequence of the swing trajectory model can be determined which can return to its closest starting point, namely: first is the Parabola model with a distance of-0.1259, second is the Xin Jin model with a distance of 0.5473 and the third is the Triangular distribution model with a distance of 0.5322.
KW - Quadruped Robot
KW - Robotic Simulation
KW - Swing Trajectory Model
UR - http://www.scopus.com/inward/record.url?scp=85099657351&partnerID=8YFLogxK
U2 - 10.1109/CENIM51130.2020.9297912
DO - 10.1109/CENIM51130.2020.9297912
M3 - Conference contribution
AN - SCOPUS:85099657351
T3 - CENIM 2020 - Proceeding: International Conference on Computer Engineering, Network, and Intelligent Multimedia 2020
SP - 274
EP - 279
BT - CENIM 2020 - Proceeding
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 International Conference on Computer Engineering, Network, and Intelligent Multimedia, CENIM 2020
Y2 - 17 November 2020 through 18 November 2020
ER -