ROBOTIKA

Jum’at, 15:00 WIB E308

Robotika - EL 4082
 Kontrak Kuliah
• Tugas : 25%
• UTS : 25%
• UAS : 25%
• Tugas Besar : 25%

Robotika - EL 4082
 Robotika – EL4126
• Referensi
– K.S. Fu, R.C. Gonzales, C.S.G. Lee, Robotics :
Control, Sensing, Vision, and Inteligence, Mc. Graw
Hill, 1993 (Manipulator)
– Alexandar Lazinica, Robotics Infinity Science Press,
LLC, Masachusets, 2007
– Jean Christophe Jouferrey, Bio-Inspired Flying Robot,
EPFL Press, CRC Swiss, 2008
– Ranjan Vepa, Biomimetic Robotics : Mechanism and
Control, Cambridge Univ. Press, 2008 Ranjan Vepa,
– Dan BM, Mechanisms and Robots Analysis Using
MATLAB, Springer Verlag, 2008
– Vladimir G, Tijana T, Human-like Biomechanics,
Springer Verlag, 2006
Robotika - EL 4023/5023
 Silabus Kuliah
I. Pendahuluan (3 jam)
1. Klasifikasi Robot
2. Aplikasi Robot
3. Sejarah Robot
4. Definisi dan Terminologi
II. Sistem Penggerak (Locomotion System) (6 Jam)
1. Mekanisme Dasar + Sistem Transmisi
2. Robot Manipulator : Joint dan Link
3. Robot Bergerak : Roda dan Kaki
4. Robot Aerial dan Underwater
5. Actuator & Transmisi : Elektrik/Hidrolik/Pneumatik
6. Perhitungan Daya Statik dan Dinamik
Robotika - EL 4023/5023
 Silabus Kuliah
III. Kinematika Robot (9 jam)
1. Matrik Transformasi untuk Posisi dan Orientasi
2. Metoda Denavit Hartenberg (DH)
3. Kinematika Balik
4. Mekanisme dan kinematika Mobile Robot
IV. Dinamika Robot Manipulator (6 jam)
1. Formulasi Lagrange – Euler
2. Formulasi Newton - Euler
3. Diferensiasi Matrik Rotasi
4. Matrik Jacobian
5. Studi Kasus
Robotika - EL 4023/5023
 Silabus Kuliah
V. Sensor Robot dan Navigasi (3 jam)
1. Internal Sensor
2. External Sensor
3. Sensor Citra
VI. Perencanaan gerak Robot (6 jam)
1. Robot Manipulator (joint trajectory, path trajectory,
pembangkitan trajectory)
2. Mobile Robot (Ruang Konfigurasi-Free Space, Obstacle
Space-, Motion Planning -Roadmap, Cell decomposition,
potential field, bug algorithm-)
VII. Pemetaan dan Lokalisasi (3 jam)
1. Pemetaan dengan Sonar
2. Metoda Pemetaan : Bayes Rule dan Evidence grid
3. SLAM (Simult. Loc. And Mapping)

PRAKTIKUM di LAB ADV, ROBOTIC (6 jam)

 Penilaian
Ujian Bobot Bahan Waktu Unsur yang dinilai
1 Demo 2 Rube Gouldberg Minggu ke 1-2 Teamwork, Kreatifitas
2 Quiz 1 1 s/d Locomotion Minggu ke-4 Analitis
3 Quiz 2 1 s/d Kinematic Minggu ke-6 Analitis
4 UTS 3 semua Teori dan Analitis
5 Tugas 2 Konsep Desain Robot Yang Minggu ke-8 Kreatifitas,
Besar I diaplikasikan pada laporan serahkan paling keterbaruan, implikasi
(Person- Lingkungan Tertentu lambat minggu ke 11 (bila terhadap lingkungan
al) ada waktu akan dan manusia
dipresentasikan)
6 Tugas 3 Mobile robot untuk Tugas Minggu ke-9 Pembahasan makalah :
Besar II Tertentu (line/wall follower), presentasi dan demo s/d penjelasan Mengapa
(Tim) atau inisiatif sendiri Platform jadwal UAS (why) dan Bagaimana
+ motor drive diberikan, (how), organisasi dan
Micro.+ Sensor buat sendiri, deskripsi pekerjaan
masing2 anggota, DAN
DEMO!!!
7 Quiz 3 1 s/d sebagian Motion Planning Minggu ke-12 Analitis
8 UAS 3 Semua (setelah UTS) Teori dan Analitis,
Hanya untuk yang
bernilai < A/AB
 Robot continuum

Karl Capek

Dalek

...
1921 2020 2150 2421
Autonomous Robot Examples (2013)

9
 Autonomous Robot
• Goal: To develop a vision-guided robot which can
autonomously carry out functions applicable to search and
rescue, surveillance, law enforcement, inspection,
mapping, and aerial cinematography, in any weather
conditions and using only on-board intelligence and
computing power

10
The Honda Humanoid

11
 Mengapa menggunakan Robot ????
• Application in 4D environments
– Dangerous
– Dirty
– Dull
– Difficult
• 4A tasks
– Automation
– Augmentation
– Assistance
– Autonomous

Robotika - EL 4023/5023 13
1.1 Klasifikasi Robot
• Berdasarkan Kerangka Koordinat Dasar
 Static (Manipulator)
 Mobile
• Berdasarkan Klasifikasi Penggerak
 Wheeled (roda) Mobile Robot
 Legged (kaki) Mobile Robot
• Bipedal Walking Robot : dua kaki
 Propulsion : dorongan fluida (Aerial :
Helicopter, pesawat, Underwater )
• Berdasarkan Klasifikasi Kecerdasan
 Remotely Operated : Dikendalikan secara jarak jauh, tidak
ada kebebasan bergerak secara mandiri

 Autonomous : Kemampuan navigasi secara mandiri maupun

pengambilan keputusan secara mandiri dalam menjalankan
sebuah misi

Robotika - EL 4023/5023
1.2 Aplikasi Robot
Field Robots/Mobile Platform

16
Service robots

17
Service robots
• Robots for Assistive Technology

Robotika - EL 4023/5023 18
Industrial robots
Entertainment
Militer
1. SAFFIR
DARPA menugaskan Virgina Tech
Univ. untuk mengembangkan
sebuah robot pemadam kebakaran
dengan julukan SAFFiR (Shipboard
Autonomous Firefighting Robot).
SAFFiR dibekali dengan bermacam
sensor untuk mendeteksi api,
kamera. Robot ini mampu berjalan
dan memanjat dengan mulus.
Dapat dioperasikan jarak jauh
melalui remote control
2. Cheetah
Dikembangkan oleh Boston
Dynamics, Cheetah dijuluki
sebagai robot tercepat di
dunia dengan kecepatan lari
bisa mencapai 45 km per
jam. Ia mempunyai empat
kaki.
3. Big Dog
Robot ini ditujukan untuk membawa
beban berat di medan pertempuran.
Ia mampu berjalan cepat di berbagai
medan, termasuk di kemiringan
sekalipun. Bahkan ketika terpeleset
di tempat yang licin, Big Dog
dirancang mampu menyeimbangkan
diri secara otomatis.
4. RHex

Militer AS sedang mengujicoba robot bernama Rhex ini yang

mempunyai enam kaki. Rhex dikembangkan oleh Boston Dynamics
terinpirasi dari binatang kecoa. Sedang diujicoba di Afghanistan untuk
tes.
5. Sand Flea

Sand Flea bisa melontarkan diri hingga mendarat di atas gedung setinggi
sekitar 10 meter ataupun ke area perbukitan. Bisa melakukan sekitar 25
kali lompatan sebelum dayanya habis. Didesain sedemikian rupa
sehingga pendaratan mulus dan tidak sampai merusak bodinya.
6. Recon Scout

Recon Scout dikembangkan oleh ReconRobotics (nilai kontrak USD 1,7

juta oleh Angkatan Laut AS). Robot ini beroperasi di semua tempat dan
mentransmisikan video secara real time. Ia akan membantu militer
dalam mengamati berbagai lokasi, seperti bunker dan sebagainya
7. Petman
Petman yang dikembangkan oleh
Boston Dymanics, dideskripsikan
sebagai robot pertama yang mampu
bergerak secara dinamis seperti
manusia. Dia dapat berjalan dengan
mulus, bahkan melakukan push up.
Mungkin Petman akan menjadi
cikal bakal robot humanoid militer
AS
8. Ekso Skeleton
Ekso Skeleton adalah kerangka robot
dengan berbagai macam kegunaan.
Tujuan utama dikembangkannya
perangkat Ekso Skeleton ini adalah
untuk menambah kekuatan para
tentara. Tentara bisa memakainya
sehingga lebih kuat dan terlindungi
9. TerraMax
Kendaraan truk dapat
dapat beroperasi secara
otonom. Dikembangkan
pleh persh. Oskhosh.
TerraMax dirancang
dapat membawa
berbagai peralatan
sampai memonitor
wilayah-wilayah
terpencil.
10. Rover Curiosity
1.3 Robot History
Wind powered organ
Heron of Alexandria (10 – 70 M), egypt
Mathematician, Engineer, inventor

Hidro powered water rising machine

Abū al-'Iz Ibn Ismā'īl ibn al-Razāz al-Jazarī (1136 – 1206 M),
Mesopotamia
Mechanical Engineer, Craftman, Artist, mathematician and
astronomer
Buku fí ma'rifat al-hiyal al-
handasiyya (Book of
Knowledge of Ingenious
Mechanical Devices) :
Menggambarkan 50 jenis
perangkat mekanik disertai
dengan penjelasan bagaimana
membangunnya
Automaton (self-operating machine).
Leonardo da Vinci (1452 – 1519 M)
Painter, sculptor, architect, musician, scientist,
mathematician, engineer, inventor, anatomist,
geologist, cartographer, botanist and writer.
 Slaves of steel

• The first person to use the word

robot was a playwright,
Czechoslovakian writer Karel
Capek in his satirical play, R.U.R.
(Rossum's Universal Robots). 1921 Cover page of the first edition
• The word “robot” from the czech
“robota” which means a serf or
one in subservient labor
– in the early 1940’s MIT developed a numerically
controlled (NC) milling machine (the first NC machine
tool)
– The term 'robotics' refers to the study and use of robots
and was coined and first used by the Russian-born
American scientist and writer Isaac Asimov (1942).
Asimov also created the ‘Three Laws of Robotics’.
1) a robot may not injure a human being, or, through inaction,
allow a human being to come to harm;
2) a robot must obey orders given to it by human beings except
where such orders conflict with the first law; and
3) a robot must protect its own existence as long as such
protection does not conflict with the first or the second law.
 Calculators and computers
• John Atanassoff built the world's
first digital computer.
• J. Presper Eckert & John Mauchly
at Univ. Pennsylvania build the
first large electronic computer
called ENIAC (Electronic
Numerical Integrator And
Calculator). But these devices
could only handle numbers.
• The UNIVAC I (Universal
Automatic Computer) would be
ENIAC computer (1946) the first device to deal with letters.
• 17.468 vacum tube transistor, 70.000
resistor, 10.000 kapasitor
• 5 million soldered conection
• Dim : 2,4x0,9x30 m, Space :167 m2,
weight : 27 Ton, Power : 160 kW
 – In 1961 George Devol created his patent for parts transfer
machines. Joe Engelberger teamed with Devol to form
Unimation and was the first to market robots. As a result,
Engelberger has been called the 'father of robotics.'
– The first industrial modern robot - the Unimate -
developed by Devol and Engelberger - was installed at
GM (New Jersey) in 1962.

A Unimate serves Devol and A Unimate employed more

Engelberger with a cocktail profitably
– In 1964 Artficial Intelligence (AI) Labs open at MIT, Stanford (SRI) and
University of Edinburgh
– The mobile robot ‘Shakey’ was developed at Stanford in the late sixties.It
had a camera and touch sensors and could move about the lab floor
– SRI develop the ‘Stanford Arm’ - an electrically powered manipulator and
then ‘WAVE’ - the first robot programming language. This was subsequently
developed into VAL for use with Unimation robots
– In 1974 ASEA introduce the all electric drive IRb6. Cincinnati Milacron also
introduce computer controlled T3 (The Tomorrow Tool) robot. Kawasaki use
Unimation machines to weld motorbike frames.
– In 1976 Viking I & II space crafts equipped with robot arms land on Mars
– Unimate PUMA’s (Programmable Universal Machine for Assembly)
introduced in 1978. SCARA’s (Selective Compliance Articulated Robot
Arm) introduced in 1979.
– Vision based workcell demonstrated at University of Rhode Island in 1980
(Kirsch).
 Definisi ROBOT
• American Heritage Dictionary: ro·bot (rbt, -bt) n.
1: A mechanical device that sometimes resembles a human being and
is capable of performing a variety of often complex human tasks on
command or by being programmed in advance.
2: A machine or device that operates automatically or by remote
control.
3: A person who works mechanically without original thought,
especially one who responds automatically to the commands of
others.
• Websters:
1 a : a machine that looks like a human being and performs various
complex acts (as walking or talking) of a human being; also : a
similar but fictional machine whose lack of capacity for human
emotions is often emphasized
b : an efficient insensitive person who functions automatically

Robotika - EL 4023/5023
 Definisi ROBOT

2 a device that automatically performs complicated often repetitive tasks

3 : a mechanism guided by automatic controls
• RIA
• A re-programmable multi-functional manipulator designed to
move material, parts, or specialized devices through variable
programmed motion for the performance of a variety of tasks"
(RIA, Robot Institute of America, A group within Society of
Manufacturing Engineering)

Robotika - EL 4023/5023
1.3 Definisi/Terminologi

Ciri-ciri (Features) Umum Robot

 Melakukan Tugas (Perform a Task)
 Pergerakan (Movement)
 Merasakan (Sense)
 Memutuskan (Decide)
 Melakukan Aksi (Respond)

Robotika - EL 4023/5023
 Komponen Robot
• Locomotion (Mekanisme gerak dan Aktuator)
• Sensor
• Kecerdasan (Perilaku dan Interaksi)
• Navigasi (Pemetaan, Trayektori, Lokalisasi)

Robotika - EL 4023/5023
LOCOMOTION : Bergerak dari satu tempat/posisi ke
tempat/posisi yang lainnya (Moving one place to place)

crawling Sliding/snaking running jumping

walking rolling gliding flying

swimming propulsion Branchiating/

climbing
• NAVIGASI berkaitan dengan menggerakkan
seluruh platform (fisik) menuju tujuan yang
ditentukan
• Kemampuan2 yang perlu dimiliki oleh sebuah
sistem navigasi :
 Membuat representasi lingkungan kerja
(mapping)
 Mengetahui posisinya (localization)
 Membuat rencana jalur berdasarkan
representasi yang dimilikinya (motion
planning)
 Mengambil keputusan dan melakukan aksi
pergerakan (follower, obstacle avoidance)
 Robotika adalah .............

Robotika - EL 4023/5023
  Robotika adalah Inter-discipline

• Mech. Eng. • CS & AI • Biology

• Electrical Eng. • Vision, HCI • Neuroscience
• Control • Software Dev. • Cognitive Science

Object & Environment

• Architecture • Sensing and Motion • Visual Control
• Mapping • Cooperative Robotics • Entertainment
• Planning / Modeling • Robot Learning
Robotika - EL 4023/5023
• Faktor Desain Sistem Robot
– Maneuverability (kemampuan Bergerak, maju/mundur
lurus, berputar)
– Controllability (Dapat dikendalikan)
– Traction (Daya tarik/Power)
– Climbing ability (Kemampuan memanjat)
– Stability (Kestabilan)
– Efficiency (Efisiensi)
– Maintenance (Pemeliharaan)
– Environmental impact (pengaruhnya terhadap
lingkungan, obstacle minor boleh ditabrak, hanya bisa
dihindari, atau di geser)
– Navigational (navigasi/pengenalan posisi)

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 Topics
• Robot Manipulator
– Kinematics model of manipulators
– Dynamic Model of manipulators
– Trajectory generation
– Robot Control
• Mobile Robot
– Kinematic &dynamic model of wheeled mobile robots 
– Feedback control of mobile robots with nonholonomic constraints
– Motion planning
– Mapping and Navigation
• Robot Sensing:
– Visual and non-visual sensors
– Sensor fusion algorithms
– Vision and laser based tracking control

Robotika - EL 4023/5023 54
 Summary
• Robotics--interdisciplinary research
– Mechanical design
– Computer science and engineering
– Electrical engineering
– Cognitive psychology, perception and neuroscience
• Research open problems
– Manipulation, Locomotion
– Control, Navigation
– Human-Robot Interaction
– Learning & Adaptation (AI)

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