Balance Control of Hexapod Robot Against Uneven Terrain

DOI

10.2991/978-94-6463-620-8_7How to use a DOI?

Keywords

Balancing; PID control; Matrix Rotation

Abstract

This research focuses on addressing the challenges faced by robots when going through uneven terrain by maintaining stability in an inclined position. The main objective is to design a PID control algorithm that allows the robot to adjust its motion based on real-time sensory feedback from the IMU sensor. The research methods include Inverse Kinematics, Matrix Rotation, Body Offset, PID controller design, and controller parameter optimization using the Ziegler-Nichols method which can help reduce the tuning time. This system works well producing an average response time when balancing the body for 1.1 seconds with a success rate of 80% and can climb stairs with an average time of 44.9 seconds with a success rate of 84%.

Copyright

© 2024 The Author(s)

Open Access

Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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TY  - CONF
AU  - Sahdad Jovito
AU  - Senanjung Prayoga
AU  - Anugerah Wibisana
AU  - Aldi Wahyudi
PY  - 2024
DA  - 2024/12/25
TI  - Balance Control of Hexapod Robot Against Uneven Terrain
BT  - Proceedings of the  7th International Conference on Applied Engineering (ICAE 2024)
PB  - Atlantis Press
SP  - 78
EP  - 93
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-620-8_7
DO  - 10.2991/978-94-6463-620-8_7
ID  - Jovito2024
ER  -