Heading control for quadruped stair climbing based on PD controller for the KRSRI competition
Quadruped, a robot that resembles four-legged animals, is developed for many purposes, such as surveillance and rescue. Such a caveat requires the robot to have the capability to overcome various terrain and obstacles. When moving across such a landscape, it is essential to maintain the robot's...
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| Format: | Article |
| Language: | Indonesian |
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Department of Electrical Engineering, Faculty of Engineering, Tanjungpura University
2023-10-01
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| Series: | Elkha: Jurnal Teknik Elektro |
| Subjects: | |
| Online Access: | https://jurnal.untan.ac.id/index.php/Elkha/article/view/70381 |
| _version_ | 1797652839813611520 |
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| author | Khairurizal Alfathdyanto Adytia Darmawan Ali Husein Alasiry Ahmad Taufik |
| author_facet | Khairurizal Alfathdyanto Adytia Darmawan Ali Husein Alasiry Ahmad Taufik |
| author_sort | Khairurizal Alfathdyanto |
| collection | DOAJ |
| description | Quadruped, a robot that resembles four-legged animals, is developed for many purposes, such as surveillance and rescue. Such a caveat requires the robot to have the capability to overcome various terrain and obstacles. When moving across such a landscape, it is essential to maintain the robot's orientation steadily. Inclined terrains such as stairs have posed another challenge to the control strategy as the robot is unstable while climbing. Therefore, the contribution of this work is to address the need for heading control because of the relatively longer stairs used for the current competition compared to the past. The proposed control system simultaneously maintains the heading while keeping the body stable. The inertial measurement unit sensor carried by the robot would provide the pose needed for heading control calculations. The robot's heading becomes the base for the PD controller calculation. The final pose that stabilizes the robot while tackling heading error is a combination of correction from the PD controller and the stabilization part of the control strategy. Then, the leg servo angle determination deployed the inverse kinematics calculation from the suitable robot pose. The proposed method enabled the designed robot to maintain its heading with a 4.4-degree margin of error and stabilize the body. The quadruped also completes the stair climbing at the shortest time of 20 seconds with a speed of up to 5.5 centimeters per second. |
| first_indexed | 2024-03-11T16:35:42Z |
| format | Article |
| id | doaj.art-f7af8a891c064a33bab36450e3789c18 |
| institution | Directory Open Access Journal |
| issn | 1858-1463 2580-6807 |
| language | Indonesian |
| last_indexed | 2024-03-11T16:35:42Z |
| publishDate | 2023-10-01 |
| publisher | Department of Electrical Engineering, Faculty of Engineering, Tanjungpura University |
| record_format | Article |
| series | Elkha: Jurnal Teknik Elektro |
| spelling | doaj.art-f7af8a891c064a33bab36450e3789c182023-10-23T17:16:29ZindDepartment of Electrical Engineering, Faculty of Engineering, Tanjungpura UniversityElkha: Jurnal Teknik Elektro1858-14632580-68072023-10-0115214615110.26418/elkha.v15i2.7038141568Heading control for quadruped stair climbing based on PD controller for the KRSRI competitionKhairurizal Alfathdyanto0Adytia Darmawan1Ali Husein Alasiry2Ahmad Taufik3Department of Electrical Engineering, Electronic Engineering Polytechnic Institute of Surabaya, IndonesiaDepartment of Mechanics and Energy, Electronic Engineering Polytechnic Institute of Surabaya, IndonesiaDepartment of Electrical Engineering, Electronic Engineering Polytechnic Institute of Surabaya, IndonesiaPoliteknik Elektronika Negeri SurabayaQuadruped, a robot that resembles four-legged animals, is developed for many purposes, such as surveillance and rescue. Such a caveat requires the robot to have the capability to overcome various terrain and obstacles. When moving across such a landscape, it is essential to maintain the robot's orientation steadily. Inclined terrains such as stairs have posed another challenge to the control strategy as the robot is unstable while climbing. Therefore, the contribution of this work is to address the need for heading control because of the relatively longer stairs used for the current competition compared to the past. The proposed control system simultaneously maintains the heading while keeping the body stable. The inertial measurement unit sensor carried by the robot would provide the pose needed for heading control calculations. The robot's heading becomes the base for the PD controller calculation. The final pose that stabilizes the robot while tackling heading error is a combination of correction from the PD controller and the stabilization part of the control strategy. Then, the leg servo angle determination deployed the inverse kinematics calculation from the suitable robot pose. The proposed method enabled the designed robot to maintain its heading with a 4.4-degree margin of error and stabilize the body. The quadruped also completes the stair climbing at the shortest time of 20 seconds with a speed of up to 5.5 centimeters per second.https://jurnal.untan.ac.id/index.php/Elkha/article/view/70381heading control, inverse kinematic, pd controller, quadruped robot |
| spellingShingle | Khairurizal Alfathdyanto Adytia Darmawan Ali Husein Alasiry Ahmad Taufik Heading control for quadruped stair climbing based on PD controller for the KRSRI competition Elkha: Jurnal Teknik Elektro heading control, inverse kinematic, pd controller, quadruped robot |
| title | Heading control for quadruped stair climbing based on PD controller for the KRSRI competition |
| title_full | Heading control for quadruped stair climbing based on PD controller for the KRSRI competition |
| title_fullStr | Heading control for quadruped stair climbing based on PD controller for the KRSRI competition |
| title_full_unstemmed | Heading control for quadruped stair climbing based on PD controller for the KRSRI competition |
| title_short | Heading control for quadruped stair climbing based on PD controller for the KRSRI competition |
| title_sort | heading control for quadruped stair climbing based on pd controller for the krsri competition |
| topic | heading control, inverse kinematic, pd controller, quadruped robot |
| url | https://jurnal.untan.ac.id/index.php/Elkha/article/view/70381 |
| work_keys_str_mv | AT khairurizalalfathdyanto headingcontrolforquadrupedstairclimbingbasedonpdcontrollerforthekrsricompetition AT adytiadarmawan headingcontrolforquadrupedstairclimbingbasedonpdcontrollerforthekrsricompetition AT alihuseinalasiry headingcontrolforquadrupedstairclimbingbasedonpdcontrollerforthekrsricompetition AT ahmadtaufik headingcontrolforquadrupedstairclimbingbasedonpdcontrollerforthekrsricompetition |