Pengendalian pergerakan robot humanoid menggunakan perintah suara = Humanoid robot movement control using voice commands

Charles, Charles (2014) Pengendalian pergerakan robot humanoid menggunakan perintah suara = Humanoid robot movement control using voice commands. Bachelor thesis, Universitas Pelita Harapan.

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Abstract

Dalam proyek Tugas Akhir ini dilakukan rancang bangun robot humanoid yang mampu melakukan gerakan berdasarkan perintah suara menggunakan teknologi Voice Recognition. Robot humanoid mampu melakukan tiga gerakan, yaitu jalan, berdiri dan jongkok. Pergerakan setiap sendi robot pada bagian tangan dan kaki didukung oleh enam belas buah motor servo dikendalikan melalui modul kontroler servo buatan Innovative Electronics. Untuk mengaplikasikan fitur perintah suara digunakan modul EasyVR. Sistem bekerja bermula dari proses listening pada saat standby dan siap menerima perintah. Perintah suara harus di-training terlebih dahulu dan dimasukkan ke dalam database, kecuali perintah Speaker Independent yang sudah built-in dalam modul. Arduino Uno digunakan sebagai penginterpretasi perintah dari modul EasyVR ke modul kontroler servo. Sedangkan, modul kontroler servo berfungsi menggerakkan setiap aktuator secara simultan, ataupun independen. Dari sejumlah pengujian yang dilakukan dapat dikatakan bahwa sistem dapat bekerja cukup baik, walaupun masih terdapat banyak kelemahan. Pengujian ketepatan pergerakan servo memiliki penyimpangan terbesar 80 pada servo MG995 dan 100 pada servo HXT900. Sedangkan, pengujian pengaruh rate terhadap kecepatan ramping dari skala 1-100 baru terlihat signifikan, bila rate mencapai angka di bawah 50. Semakin kecil rate, maka semakin besar pengaruhnya. Hasil pengujian terhadap fitur perintah suara memiliki tingkat error yang cukup tinggi dengan persentase sebesar 45% untuk perintah berdiri, berjalan 30%, jongkok 25%, home 15% dan atom 0%. Sementara itu, persentasi keberhasilan setiap gerakan mencapai 100% dalam sepuluh kali percobaan. Terakhir adalah pengujian daya tahan baterai Li-Po 7.4V 1000mah, yang mampu menggerakkan aktuator setiap sendi robot selama 10 hingga 15 menit bergantung pada beban dan banyaknya gerakan. / In this final project a humanoid robot is designed to be able to perform several movements based on voice commands using the Voice Recognition technology. The humanoid robot is able to perform three movements, namely walking, standing and squatting. The movement of each robot's joint in the hands and feet are supported by sixteen servo motor, which are controlled by Innovative Electronics servo controller module. To implement the voice command feature, EasyVR module is used. The system works stems from the process of listening during standby position and ready to take orders. The commands should be trained beforehand and entered into the database, excepts commands in Speaker Independent built-in in the module. Arduino Uno interpret the command from EasyVR module to servo controllers module. Meanwhile, the servo controller module function is to move each actuator simultaneously or independently . From a number of tests performed, the system works well, although there are still many weaknesses. The accuracy of the movement test of the servo has the largest deviation with 80 on servo MG995 and 100 on the servo HXT900. Meanwhile, the effect of the rate on the ramping speed in 1-100 scale is significant when the rate reached below 50. The smaller the rate, the greater the effect. The test results from voice command feature has a fairly high error rate with a percentage of 45% for orders stand, walk 30%, 25% squat, home 15% and atom 0%. While, the percentage of success from each movement reaches 100% in ten attempts. The last test is about the durability from the Li-Po battery 7.4V 1000mAh, which is capable of moving the robot joint actuators for 10 to 15 minutes depending on the load and the number of movements.

Item Type: Thesis (Bachelor)
Creators:
CreatorsNIMEmail
Charles, CharlesUNSPECIFIEDUNSPECIFIED
Contributors:
ContributionContributorsNIDN/NIDKEmail
Thesis advisorKuantama, EndrowednesUNSPECIFIEDUNSPECIFIED
Thesis advisorAribowo, ArnoldUNSPECIFIEDUNSPECIFIED
Additional Information: SK 83-10 CHA p
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7885-7895 Computer engineering. Computer hardware
Divisions: University Subject > Historic > Faculty/School > Computer System Engineering
Historic > Faculty/School > Computer System Engineering
Depositing User: Ms Hamardiati Saptarini
Date Deposited: 29 Nov 2018 04:28
Last Modified: 18 Aug 2021 08:29
URI: http://repository.uph.edu/id/eprint/2229

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