Quadruped Robot with Stabilization Algorithm on Uneven Floor using 6 DOF IMU based Inverse Kinematic

摘要

Robotics technology is always growing very quickly. One type of the robot is 4 legged robot (Quadruped). The Problem from this robot is if quadruped find the uneven floor, the movement of robot can be late and the center of the gravity are not balance. This research makes a designed stabilization algorithm quadruped on uneven floor with 6 DOF IMU MPU 6050 based on invers kinematic. MPU 6050 sensor are consist of accelerometer and gyroscope. This sensor will give an input of tilting degree of the robot and then it can be processed in stabilization algorithm with proportional controller to balance the body of robot on uneven floor. Quadruped robot moves using inverse kinematics by following the coordinates given. The method of inverse kinematics will help to find the angle value of servo moves through the final coordinates. The test result shows that quadruped robot with stabilization algorithm can increase stability percentage of pitch angle equal to 75,58% and stability percentage of roll angle equal to 71,15%.