SISTEM KENDALI STEP MOTION ROBOT HUMANOID 20 DERAJAD KEBEBASAN DALAM MENGIKUTI SUATU WARNA
This research discuses about how to generate step-motion humanoid robot. The focus of this research finds the servo�s data that affects walk�s step-motion of 20 DOF humanoid robot. The constraints of this research are servo�s temperature and voltage. In order to reach steady state, legs-hips-k...
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| Format: | Thesis |
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[Yogyakarta] : Universitas Gadjah Mada
2013
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| _version_ | 1826047708965634048 |
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| author | , RIDWAN WICAKSONO , Bapak Ir. Priyatmadi, S.T., M.T. |
| author_facet | , RIDWAN WICAKSONO , Bapak Ir. Priyatmadi, S.T., M.T. |
| author_sort | , RIDWAN WICAKSONO |
| collection | UGM |
| description | This research discuses about how to generate step-motion humanoid robot.
The focus of this research finds the servo�s data that affects walk�s step-motion of
20 DOF humanoid robot. The constraints of this research are servo�s temperature
and voltage. In order to reach steady state, legs-hips-knees of robot reform their
angular position by feedback of gyroscope signal that affect the static stability.
Step-motions is designed by observe center of mass (COM) position. The Motions
become steady state while output of gyroscope becomes periodic signal. HAVIMO
Camera is used for detects the specified color with On-line Region Growing Method
so that it can processes output data that spread in specific region of x and y axis
image�s plane. The data signal set as control-regulator head�s servos facing the
color position. 19 states are generated for tracking specific color and represented
through state�s diagram. By comparing the temperature and voltage between 56
step and 24 step, the influence sum of step�s robot prove that reducing sum of steps,
with equal trajectory, parameter, and real time work, increasing speed against x
(go forward) axis movement, decreasing movement�s speed against y-axis (shift)
and �-axis (rotation), decelerating temperature�s ascension, and decelerating
voltage�s descent. |
| first_indexed | 2024-03-13T23:15:09Z |
| format | Thesis |
| id | oai:generic.eprints.org:126849 |
| institution | Universiti Gadjah Mada |
| last_indexed | 2024-03-13T23:15:09Z |
| publishDate | 2013 |
| publisher | [Yogyakarta] : Universitas Gadjah Mada |
| record_format | dspace |
| spelling | oai:generic.eprints.org:1268492016-03-04T08:42:21Z https://repository.ugm.ac.id/126849/ SISTEM KENDALI STEP MOTION ROBOT HUMANOID 20 DERAJAD KEBEBASAN DALAM MENGIKUTI SUATU WARNA , RIDWAN WICAKSONO , Bapak Ir. Priyatmadi, S.T., M.T. ETD This research discuses about how to generate step-motion humanoid robot. The focus of this research finds the servo�s data that affects walk�s step-motion of 20 DOF humanoid robot. The constraints of this research are servo�s temperature and voltage. In order to reach steady state, legs-hips-knees of robot reform their angular position by feedback of gyroscope signal that affect the static stability. Step-motions is designed by observe center of mass (COM) position. The Motions become steady state while output of gyroscope becomes periodic signal. HAVIMO Camera is used for detects the specified color with On-line Region Growing Method so that it can processes output data that spread in specific region of x and y axis image�s plane. The data signal set as control-regulator head�s servos facing the color position. 19 states are generated for tracking specific color and represented through state�s diagram. By comparing the temperature and voltage between 56 step and 24 step, the influence sum of step�s robot prove that reducing sum of steps, with equal trajectory, parameter, and real time work, increasing speed against x (go forward) axis movement, decreasing movement�s speed against y-axis (shift) and �-axis (rotation), decelerating temperature�s ascension, and decelerating voltage�s descent. [Yogyakarta] : Universitas Gadjah Mada 2013 Thesis NonPeerReviewed , RIDWAN WICAKSONO and , Bapak Ir. Priyatmadi, S.T., M.T. (2013) SISTEM KENDALI STEP MOTION ROBOT HUMANOID 20 DERAJAD KEBEBASAN DALAM MENGIKUTI SUATU WARNA. UNSPECIFIED thesis, UNSPECIFIED. http://etd.ugm.ac.id/index.php?mod=penelitian_detail&sub=PenelitianDetail&act=view&typ=html&buku_id=67083 |
| spellingShingle | ETD , RIDWAN WICAKSONO , Bapak Ir. Priyatmadi, S.T., M.T. SISTEM KENDALI STEP MOTION ROBOT HUMANOID 20 DERAJAD KEBEBASAN DALAM MENGIKUTI SUATU WARNA |
| title | SISTEM KENDALI STEP MOTION ROBOT HUMANOID 20 DERAJAD KEBEBASAN DALAM MENGIKUTI SUATU WARNA |
| title_full | SISTEM KENDALI STEP MOTION ROBOT HUMANOID 20 DERAJAD KEBEBASAN DALAM MENGIKUTI SUATU WARNA |
| title_fullStr | SISTEM KENDALI STEP MOTION ROBOT HUMANOID 20 DERAJAD KEBEBASAN DALAM MENGIKUTI SUATU WARNA |
| title_full_unstemmed | SISTEM KENDALI STEP MOTION ROBOT HUMANOID 20 DERAJAD KEBEBASAN DALAM MENGIKUTI SUATU WARNA |
| title_short | SISTEM KENDALI STEP MOTION ROBOT HUMANOID 20 DERAJAD KEBEBASAN DALAM MENGIKUTI SUATU WARNA |
| title_sort | sistem kendali step motion robot humanoid 20 derajad kebebasan dalam mengikuti suatu warna |
| topic | ETD |
| work_keys_str_mv | AT ridwanwicaksono sistemkendalistepmotionrobothumanoid20derajadkebebasandalammengikutisuatuwarna AT bapakirpriyatmadistmt sistemkendalistepmotionrobothumanoid20derajadkebebasandalammengikutisuatuwarna |