LOCOMOTION SYSTEM HARDWARE IMPLEMENTATION OF WHEELED SOCCER ROBOT MSL V4

• Main Author: Fadhila Soni, Ridho
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/42237
• Institution: Institut Teknologi Bandung

Institut Teknologi Bandung (ITB) has been developing wheeled soccer robot since 2015. In 2016, the robot has participated in Kontes Robot Indonesia (KRI) at Kontes Robot Sepak Bola Indonesia (KRSBI) branch, until 2018. The robot was named Middle Size League with different version each year. Starting from MSL v1 in 2016, until the current robot carried out in 2019 MSL v4. In the development of wheeled soccer robot, there are several main interrelated systems, namely locomotion system, dribbling system, kicking system, and vision system. The locomotion system servers to help the robot move. Dribbling system has a function to help robots dribbling the ball naturally following the direction of the robot’s movements. The kicker system has functions to kick the ball in the form of kicking to the opponent’s goal or to pass the ball to the teammate robots. As well as an vision system that serves to detect the ball, lines, fields, teammate robots, as well as other obstacles found on the field. In developing this robot, the most basic system that is very important is the locomotion system. Because the movement of robots is the first step to develop the other systems of the robot. In implementing the locomotion system, it is divided into three main parts, namely odometry calculations, use of encoders, and motor use. Odometru calculations are used to get the relative position of the robot to the field. The use of encoders serve to get the displacement data of each encoder to be converted to robot mileage. And the use of motor serve as the main driver of the robot.