IMPLEMENTASI ALGORITMA TRIPOD GAIT PADA ROBOT HEXAPOD 3 DOF (STUDI KASUS STAIRCASE OBSTACLE) --

Abstract
In this study made a legged robot with a hexapod has three degrees of
freedom on each leg, which makes this robot has a total of 18 servo motors. The
robot is implanted with a tripod gait algorithm as its propulsion system. This
hexapod robot with three degrees of freedom is programmed so that it can pass
staircase obstacles. Because of that this research project entitled Implementation
of the Tripod Gait Algorithm on Hexapod 3 DOF Robot (Case Study of Staircase
Obstacle) was made. With the application of the tripod gait algorithm as the robot's
propulsion system, the robot will move through the ladder obstacles by minimizing
the robot's failure to pass the ladder obstacles.
The results that have been achieved in research with the application of the
tripod gait algorithm on the hexapod robot as its propulsion system are that the
robot successfully passes the stairs obstacle.
Keyword: Legged Robot, Tripod Gait, Staircase Obstacle