DAFTAR ISI

Halaman

HALAMAN JUDUL ..................................................................................... i

HALAMAN PENGESAHAN ...................................................................... ii
HALAMAN PERSEMBAHAN ................................................................... iii
ABSTRAK ..................................................................................................... iv
ABSTRACT ................................................................................................... v
KATA PENGANTAR .................................................................................... vi
DAFTAR ISI ................................................................................................... viii
DAFTAR GAMBAR ..................................................................................... xi
DAFTAR TABEL .......................................................................................... xii

BAB I PENDAHULUAN
1.1 Latar Belakang ......................................................................... 1
1.2 Perumusan Masalah ................................................................. 2
1.3 Batasan Masalah ....................................................................... 3
1.4 Tujuan dan Manfaat.................................................................. 3
1.4.1 Tujuan............................................................................ 3
1.4.2 Manfaat ......................................................................... 3
1.5 Metodologi Penelitian ............................................................ 3
1.6 Metodologi Penulisan ............................................................. 4
1.6.1 Metode Literatur ........................................................... 4
1.6.2 Metode Wawancara....................................................... 4
1.6.3 Metode Observasi ......................................................... 4
1.7 Sistematika Penulisan .............................................................. 4

BAB II TINJAUAN PUSTAKA

2.1 Gas LPG.................................................................................... 5
2.2 Robot Berkaki .......................................................................... 5
2.3 Metode Fuzzy .......................................................................... 7

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 2.3.1 Himpunan Fuzzy .......................................................... 8
2.3.2 Fungsi Keanggotaan...................................................... 9
2.3.3 Sistem Inferensi Fuzzy.................................................. 10
2.3.2 Model Fuzzy Mamdani................................................. 11
2.4 Sensor Ultrasonik .................................................................... 12
2.4.1 Pemancar Ultrasonik .................................................... 13
2.4.2 Penerima Ultrasonik ..................................................... 14
2.4.3 Sensor Ultrasonik PING................................................ 15
2.5 Sensor Gas MQ5 ...................................................................... 17
2.6 Motor Servo ............................................................................ 19
2.7 Arduino Mega 2560 ................................................................ 20
2.7.1 Pemetaan Pin Arduino Mega 2560 ............................... 22
2.7.2 Sumber Daya Arduino Mega 2560................................ 22
2.8 Sensor MPU6050 .................................................................. 23

BAB III METODOLOGI PENELITIAN

3.1 Waktu dan tempat .................................................................... 26
3.2 Metodologi Penelitian .............................................................. 26
3.3 Metode Pembahasan ................................................................. 27
3.3.1 Perancangan Elektronik ................................................ 28
3.3 .1.1 Blok Diagram .................................................. 28
3.3 .1.2 Skematik Rangkaian ........................................ 29
3.3 .1.3 Flowchart ......................................................... 31
3.3.2 Perancangan Mekanik ................................................. 32
3.3.2.1 Daftar Alat dan Bahan ...................................... 32
3.3.2.2 Gambaran Mekanik Robot ............................... 34

DAFTAR PUSTAKA
LAMPIRAN

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 DAFTAR GAMBAR

Halaman

Gambar 2.1 Robot hexapod ........................................................................ 6

Gambar 2.2 Himpunan Fuzzy Pada Variabel Temperatur ........................... 8
Gambar 2.3 Kurva Segitiga Pada Membership Function ............................ 9
Gambar 2.4 Kurva Trapesium Pada Membership Function ........................ 10
Gambar 2.5 Prinsip Kerja Ultrasonik .......................................................... 12
Gambar 2.6 Rangkaian Pemancar Gelombang Ultrasonik ......................... 13
Gambar 2.7 Sensor Ultrasonik PING .......................................................... 15
Gambar 2.8 Skematik Sensor Ultrasonik PING .......................................... 16
Gambar 2.9 Jarak Ukur Sensor PING ......................................................... 16
Gambar 2.10 Pancaran Sensor PING ............................................................ 17
Gambar 2.11 Sensor MQ5 ............................................................................. 17
Gambar 2.12 Motor Servo ............................................................................. 19
Gambar 2.13 Skematik Motor Servo ............................................................. 20
Gambar 2.14 Arduino Mega 2560 ................................................................. 20
Gambar 2.15 Konfigurasi Pin Arduino Mega 2560 ....................................... 21
Gambar 2.16 Sensor MPU6050 .................................................................... 24
Gambar 3.1 Blok Diagram ........................................................................... 28
Gambar 3.2 Skematik Rangkaian Sensor Ultrasonik ................................. 29
Gambar 3.3 Skematik Rangkaian Keseluruhan Robot ................................ 30
Gambar 3.4 Flowchart Kerja Sensor Ultrasonik Pada Robot .................... 31
Gambar 3.5 Gambaran Umum Mekanik Alat.............................................. 34
Gambar 3.6 Tampilan Robot Tampak Atas ................................................. 35
Gambar 3.7 Tampilan Robot Tampak Depan ............................................ 35

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 DAFTAR TABEL

Halaman

Tabel 2.1 Pin Sensor MQ5 ...................................................................... 18

Tabel 2.2 Spesifikasi Sederhana Arduino Mega 2560 ............................ 22
Tabel 3.1 Daftar Alat dan Bahan ............................................................. 32

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