Proceedings of the 6th International Conference on Applied Engineering, ICAE 2023, 7 November 2023, Batam, Riau islands, Indonesia

Research Article

Fuzzy-Pid Logic Control On Using Rplidar A2 At The Quadruped Robot To Apply The Hexagonal Trackway

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  • @INPROCEEDINGS{10.4108/eai.7-11-2023.2342950,
        author={Diono  Diono and Muhammad Jaka Wimbang Wicaksono and Vivin  Octowinandi and Muhammad  Raihan},
        title={Fuzzy-Pid Logic Control On Using Rplidar A2 At The Quadruped Robot To Apply The Hexagonal Trackway},
        proceedings={Proceedings of the 6th International Conference on Applied Engineering, ICAE 2023, 7 November 2023, Batam, Riau islands, Indonesia},
        publisher={EAI},
        proceedings_a={ICAE},
        year={2024},
        month={1},
        keywords={fuzzy pid quadruped robot wall following legged locomotion hexagonal wall},
        doi={10.4108/eai.7-11-2023.2342950}
    }
    
  • Diono Diono
    Muhammad Jaka Wimbang Wicaksono
    Vivin Octowinandi
    Muhammad Raihan
    Year: 2024
    Fuzzy-Pid Logic Control On Using Rplidar A2 At The Quadruped Robot To Apply The Hexagonal Trackway
    ICAE
    EAI
    DOI: 10.4108/eai.7-11-2023.2342950
Diono Diono1,*, Muhammad Jaka Wimbang Wicaksono1, Vivin Octowinandi1, Muhammad Raihan1
  • 1: Politeknik Negeri Batam
*Contact email: diono@polibatam.ac.id

Abstract

This paper is shown for development at the KRI (Indonesian Robot Contest) competition in the division of the Indonesian Fire Fighting Robot Contest organized by the Ministry of Research and Technology Higher Education (KEMENRISTEKDIKTI) presenting a wall design that follows the behaviour of a four-legged robot based on a Fuzzy-PID controller. The PID controller is proposed here because of its ability to control many cases of non- linear systems, and Fuzzy is added to it for auto-tuning. In this case, we propose a PID controller for the movement stability of a Quadruped robot while following a hexagonal wall. In this paper, the fuzzy-PID controller is used to control the legs of the robot by adjusting the swing angle value when moving forward to maintain the distance between the robot and the wall. The experimental results are verified by applying the proposed control method on a prototype quadruped robot.