The Development of Movement System of The Second Six-Legged Robot PTE Unima

Engineering technology in robotics for the present era is no longer new, especially in high education, marked by Indonesian robot contests routinely held annually by the national achievement center. The participants in this event are groups of students from all higher education institutions spread throughout Indonesia. The development of robotics technology is now faster to spur individuals and students to compete to conduct research and development in robotics. The study aims to develop a six-legged robotic motion system or so-called hexapod. The research was conducted using the Addie model research method consisting of five stages, namely, analyze stage to analyze the needs of the development of the robotic motion system and analysis of the needs of tools and materials to be used. The design stage of designing the mechanical structure of the robot both in terms of hardware and in terms of robot software, the development stage of developing a six-legged robot's motion system to be more stable and more efficient in moving, the implementation stage is a test stage of the robot's motion system that has been developed. The evaluation stage is the last stage of this development research; at this stage, the evaluation is done to ensure the robot's motion system is feasible to use.

Chaos in the Real World: Recent Applications to Communications, Computing, Distributed Sensing, Robotic Motion, Bio-Impedance Modelling and Encryption Systems

Most of the papers published so far in literature have focused on the theoretical phenomena underlying the formation of chaos, rather than on the investigation of potential applications of chaos to the real world. This paper aims to bridge the gap between chaos theory and chaos applications by presenting a survey of very recent applications of chaos. In particular, the manuscript covers the last three years by describing different applications of chaos as reported in the literature published during the years 2018 to 2020, including the matter related to the symmetry properties of chaotic systems. The topics covered herein include applications of chaos to communications, to distributed sensing, to robotic motion, to bio-impedance modelling, to hardware implementation of encryption systems, to computing and to random number generation.

Untethered Origami Worm Robot with Diverse Multi-Leg Attachments and Responsive Motions under Magnetic Actuation

Nowadays, origami folding in combination with actuation mechanisms can offer deployable structure design, yield compliance, and have several properties of soft material. An easy complex folding pattern can yield an array of functionalities in actuated hinges or active spring elements. This paper presents various cylinder origami robot designs that can be untethered magnetically actuated. The different designs are analyzed and compared to achieve the following three types of motion: Peristaltic, rolling, and turning in different environments, namely, board, sandpaper, and sand. The proposed origami robot is able translate 53 mm in peristaltic motion within 20 s and is able to roll one complete cycle in 1 s and can turn ≈ 180∘ in 1.5 s. The robot also demonstrated a peristaltic locomotion at a speed of ≈2.5 mm s−1, ≈1.9 mm s−1, and ≈1.3 mm s−1 in board, sandpaper, and sand respectively; rolling motion at a speed of 1 cycle s−1, ≈0.66 cycles s−1, and ≈0.33 cycles s−1 in board, sandpaper, and sand respectively; and turning motion of ≈180∘, ≈83∘, and ≈58∘ in board, sandpaper, and sand respectively. The evaluation of the robotic motion and actuation is discussed in detail in this paper.

PID++: A Computationally Lightweight Humanoid Motion Control Algorithm

Currently robotic motion control algorithms are tedious at best to implement, are lacking in automatic situational adaptability, and tend to be static in nature. Humanoid (human-like) control is little more than a dream, for all, but the fastest computers. The main idea of the work presented in this paper is to define a radically new, simple, and computationally lightweight approach to humanoid motion control. A new Proportional-Integral-Derivative (PID) controller algorithm called PID++ is proposed in this work that uses minor adjustments with basic arithmetic, based on the real-time encoder position input, to achieve a stable, precise, controlled, dynamic, adaptive control system, for linear motion control, in any direction regardless of load. With no PID coefficients initially specified, the proposed PID++ algorithm dynamically adjusts and updates the PID coefficients Kp, Ki and Kd periodically. No database of values is required to be stored as only the current and previous values of the sensed position with an accurate time base are used in the computations and overwritten in each read interval, eliminating the need of deploying much memory for storing and using vectors or matrices. Complete in its implementation, and truly dynamic and adaptive by design, engineers will be able to use this algorithm in commercial, industrial, biomedical, and space applications alike. With characteristics that are unmistakably human, motion control can be feasibly implemented on even the smallest microcontrollers (MCU) using a single command and without the need of reprogramming or reconfiguration.