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Oleh
Aris Fajar Umarok
NIM 051910201070

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F -T O O L S

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DESAIN SISTEM KONTROL NAVIGASI ROBOT BERKAKI
EMPAT PADA UNSTRUCTURED ENVIRONMENT

SKRIPSI

Oleh
Aris Fajar Umarok
NIM 051910201070

PROGRAM STUDI S-1
JURUSAN TEKNIK ELEKTRO
FAKULTAS TEKNIK
UNIVERSITAS JEMBER
2010

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F -T O O L S
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.i .id
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acRiyadi
acJember
Jl. Slamet
No. 62 Patrang,
68111 Telp.ne(0331)
j.ajc.ac.id484977
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Perkembangan
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j.ac teknologi yang semakin
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teknologidigrobotika
terutama robot
robot berkaki
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dibandingkan
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adalah kemampuannya
untuk menjelajah
http pada
http
http
kondisi lingkungan yang tidak beraturan. Oleh karena itu dilakukan penelitian yang
bertujuan untuk mendesain sistem kontrol sebuah robot berkaki empat yang dapat
bernavigasi pada lingkungan yang tidak beraturan dengan baik.
Supaya dapat bernavigasi pada lingkungan yang tidak beraturan, maka sistem
kontrol robot berkaki empat ini menggunakan metode behavior based control.
Berbeda dengan sistem kontrol tradisional yang menjalankan semua fungsi untuk
mengatasi suatu masalah, behavior based control ini membagi-bagi setiap fungsi
untuk menunaikan satu masalah. Kelebihan metode ini yaitu pengujian dari tiap
fungsi dapat dilakukan secara terpisah dan apabila salah satu fungsi rusak maka
fungsi yang lain tidak ikut rusak. Untuk dapat berjalan dengan baik robot berkaki
empat meniru gait (gaya berjalan) hewan. Terdapat banyak gait yang dimiliki oleh
hewan tetapi yang diambil pada penelitian adalah gait walk (berjalan).
Untuk memenuhi kriteria lingkungan yang tidak beraturan maka dilakukan
pengujian pada beberapa kondisi lingkungan antara lain bidang datar, berbatu,
berumput, dan bidang miring untuk mengetahui kemampuan berjalan robot.
Pengujian juga dilakukan terhadap sistem behavior based control didalam dan diluar
ruangan untuk mengetahui kemampuan sistem yang ada pada robot.
Dari hasil pengujian kemampuan berjalan robot pada beberapa kondisi
lingkungan, pada bidang datar robot mampu berjalan dengan cepat dengan
menggunakan delay 20 ms sedangkan pada daerah berbatu robot hanya mampu

vii

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F -T O O L S

F -T O O L S

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berjalan ketika menggunakan delay 25 ms dan 30 ms. Untuk daerah berumput waktu
tempuh tercepat dengan menggunakan delay 30 ms dan pada bidang miring robot
mampu berjalan hingga kemiringan 10° dengan menggunakan delay 20 ms.
Sistem behavior based control juga sudah bekerja dengan baik ketika
dilakukan pengujian secara terpisah maupun dengan penggabungan sistem behavior
secara keseluruhan. Pada pengujian behavior eksplorasi pengacakan gerakan yang
dilakukan sudah baik karena tidak ada gerakan yang dominan, sedangkan pada
behavior menghindari halangan robot sudah mampu melakukan gerakan menghindar
dari benda yang terdeteksi sensor. Koordinasi antar behavior juga sudah baik karena
kesalahan-kesalahan yang terjadi kecil.

Kata Kunci : robot berkaki empat, gait (gaya berjalan), behavior based control

viii

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and 30 ms. For the grassy area by using the fastest travel time delay is 30 ms and a
robot on an inclined plane is able to walk up the slope of 10° by using the delay of 20
ms.
Behavior-based control system has also been working well when done testing
separately or by combining the overall system behavior. On testing of exploratory
behavior by scrambling movement already well because there is no dominant
movement, while avoiding obstacles on the robot behavior was able to escape the
motion sensor detected objects. Coordination between behavior has also been good
because of a little mistakes that happened.
Keywords : four-legged robot, gait (walking style), behavior-based control

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HALAMAN JUDUL ..........................................................................................

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HALAMAN PERNYATAAN ........................................................................... iv
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DAFTAR TABEL .............................................................................................. xvi
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F -T O O L S

F -T O O L S

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2.4 Metode Koordinasi Antar Behavior ............................................... 14
2.5 Jenis Mobile Robot ......................................................................... 17
2.6 Robot Berkaki ................................................................................ 18
2.6.1 Teknik Pergerakan Robot ...................................................... 19
2.6.2 Robot Berkaki Dengan Lebih Dari Empat Buah Kaki .......... 20
2.6.3 Robot Berkaki Empat ............................................................ 21
2.6.4 Robot Berkaki Tiga ............................................................... 21
2.6.5 Robot Berkaki Dua ................................................................ 22
2.6.6 Robot Berkaki Satu ............................................................... 23
2.7 Gait (Gaya Berjalan) Robot Berkaki Empat .................................. 24
BAB 3. METODE PENELITIAN
3.1 Waktu dan Tempat Penelitian ........................................................ 28
3.2 Tahapan Penelitian ......................................................................... 28
3.3 Perancangan Mekanik Robot ......................................................... 30
3.3.1 Desain Robot ......................................................................... 30
3.3.2 Mekanisme Gerakan Robot ................................................... 30
3.4 Perangkat Keras Robot ................................................................... 34
3.4.1 Sensor .................................................................................... 35
3.4.2 Aktuator ................................................................................. 40
3.4.3 Mikrokontroler ...................................................................... 43
3.5 Perangkat Lunak Robot .................................................................. 45
3.5.1 Compiler ................................................................................ 45
3.5.2 Sistem Behavior Based Control ............................................ 47
3.6 Pengujian ........................................................................................ 52
BAB 4. HASIL DAN ANALISA DATA
4.1 Perangkat Keras .......................................................................... 54
4.1.1 Mikrokontroler ...................................................................... 54
4.1.2 Sensor Ultrasonik .................................................................. 55
4.1.3 Servo ..................................................................................... 57
xiv

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F -T O O L S
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4.2 Kemampuan Berjalan Robot ....................................................... 59

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4.2.1
Lingkungan
Datar ..................................................................
60
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4.2.3 Lingkungan Berumput .......................................................... 67

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Miring n...............................................................
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4.3.1 Eksplorasi ........................................................................... 72
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Halangan
74
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BAB 5. KESIMPULAN DAN SARAN
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DAFTAR PUSTAKA ........................................................................................ 85
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xv

F -T O O L S

F -T O O L S

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DAFTAR TABEL

Halaman
3.1

Clock Select Untuk Memilih Clock Source Pada Timer/Counter .......... 38

3.2

Spesifikasi Motor Servo GWS S03T STD ............................................. 40

4.1

Hasil Pengujian Mikrokontroler ATMega 8535 .................................... 54

4.2

Hasil Pengujian Mikrokontroler ATMega 8 ........................................... 54

4.3

Hasil Pengujian Tingkat Keakuratan Sensor PING))) ........................... 56

4.4

Error Persen Sensor PING))) ................................................................. 57

4.5

Hasil Pengujian Servo GWS S03T STD ................................................ 59

4.6

Hasil Uji Pengaruh Delay Terhadap Pergerakan Robot ......................... 60

4.7

Hasil Pengujian Terhadap Bidang Datar................................................. 63

4.8

Hasil Pengujian Waktu Tempuh Rata-Rata Robot Pada Bidang
Datar ....................................................................................................... 64

4.9

Hasil Pengujian Pada Lingkungan Berbatu ............................................ 65

4.10

Hasil Pengujian Waktu Tempuh Rata-Rata Pada Lingkungan
Berbatu ................................................................................................... 66

4.11

Hasil Pengujian Pada Lingkungan Berumput ........................................ 67

4.12

Hasil

Pengujian

Waktu

Tempuh

Rata-Rata

Robot Pada

Lingkungan Berumput ........................................................................... 68
4.13

Hasil Pengujian Robot Terhadap Bidang Miring ................................... 70

4.14

Hasil Pengujian Waktu Tempuh Rata-Rata Pada Lingkungan
Miring ..................................................................................................... 72

4.15

Definisi Gerakan Terhadap Nilai Yang Diacak ..................................... 73

4.16

Hasil Pengacakan Fungsi Rand Terhadap Pergerakan Robot ................ 73

4.17

Data Masukan Dari Sensor Ultrasonik Dan Respon Gerak Robot ........ 75

4.18

Hasil Pengujian Robot Pada Koordinasi Antar Behavior ...................... 77

xvi

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c.id id 4.20 Hasil Pengujian
81
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4.19

Hasil Pengujian Robot Dalam Ruangan ................................................. 80

Robot ke dalam Unit-Unit Fungsional (Brooks, 1986) ..........................

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Klasifikasi Mekanisme Koordinasi (Pirjanian,1999) ............................. 14

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Klasifikasi Koordinasi Behavior yang lain (Pirjanian,1999) ................. 16

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Desain Bipedal Dynamic Walker ........................................................... 22

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3.1
Diagram AliridTahap Penelitian ..............................................................
29
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3.5
Mekanisme
32
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3.6

Mekanisme Gerakan Putar Kanan .......................................................... 33

3.7

Mekanisme Gerakan Putar Kiri .............................................................. 34

3.8

Blok Diagram Perancangan Sistem Robot ............................................. 35

3.9

PING)))™ Ultrasonic Range Finder ..................................................... 35

3.10

Diagram Waktu Sensor PING))) ............................................................ 36

3.11

Ilustasi Cara Keja PING))) ..................................................................... 37

3.12

Register Timer Kontrol Timer 0 (TCCR0) ............................................ 37

3.13

Motor Servo GWS S03T STD ............................................................... 40

3.14

Pensinyalan motor servo ........................................................................ 42

3.15

Rangkaian Sistem Minimum ATMega 8535 dan ATMega 8 ................ 44

3.16

Diagram Sistem Kontrol pada Robot ..................................................... 44

3.17

Tampilan Awal Code Vision AVR .......................................................... 45

3.18

Tampilan Menu Code Wizard AVR ........................................................ 46

3.19

Tampilan Source Code pada Project Code Vision AVR.......................... 47

3.20

Sistem Behavior Kontrol Robot ............................................................. 48

3.21

Diagram Alir Koordinasi Antar Behavior............................................... 49

3.22

Diagram Alir Behavior Eksplorasi ......................................................... 50

3.23

Posisi Sensor Ultrasonik ........................................................................ 51

3.24

Diagram Alir Behavior Menghindari Halangan ..................................... 52

4.1

Pengujian Robot Pada Lantai Keramik Licin ......................................... 61

4.2

Pengujian Robot Pada Lantai Keramik Kasar ........................................ 61

4.3

Pengujian Robot Pada Lantai Kayu ....................................................... 62

4.4

Pengujian Robot Pada Karpet ................................................................ 62

4.5

Bagan Keberhasilan Robot Berjalan Terhadap Lingkungan Datar ........ 64

4.6

Bagan Keberhasilan Robot Berjalan Terhadap Lingkungan
Berbatu ................................................................................................... 65

4.7

Pengujian Robot Pada Lingkungan Berbatu .......................................... 66

xviii

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4.8

4.10

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