DESIGN AND IMPLEMENTATION OF MOTION AND USER INTERFACE ON DOMBABOT QUADRUPEDAL ROBOT

• Main Author: Louisephine, Sharly
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/50878
• Institution: Institut Teknologi Bandung

The need of robots in various fields from year to year is increasing. Legged robots offer various advantages over wheeled robot. However, the motion design of a legged robot has a higher complexity. This paper discusses the movement design and implementation for the Dombabot quadrupedal robot. The design covers kinematics analysis of the robot, end effector trajectory calculation, and gait generation. Types of motion that are designed and implemented are the basic movements, those are forward, backward, turn left and turn right motion with two variations of gait, walk and trot. The output of the design is joint angle data for each leg joints. Physical simulation is carried out using this data. The simulation shows that the robot able to perform those basic movements with gait variations. Users will need an interface to be able to access the features of this robot. Interface design and implementation are also discussed. The interface is used to receive user inputs. These inputs will determine the motion type and gait performed by robot. The functionality of the interface is tested. Testing shows that the interface is able to receive user inputs and send it to another part of the robot.