Abstract:
KRSTI is an Indonesian dance robot competition organized by Pusprenas. This project designs a 23-DOF humanoid robot using Dynamixel AX-12 servos and a CM-530 microcontroller to perform the Gambang Semarang dance. It utilizes inverse kinematics for the robot's leg motion and calculates servo angle values for programming with RoboPlus software. In position testing, the average error values of X, Y, and Z of the 2 right leg robots are 3.11 cm, 1.73 cm, and 0.8 cm respectively, and the average error of X, Y, and Z of the left leg are 3.16 cm, 2.32 cm, and 0.82 cm respectively. In the angle test on 2 robots, the average error values of angles ?, ?, ?, ?, and ? of the right leg are 1?, 1.39?, 3.73?, 0.7?, and 3.54?, respectively, and the average error values of angles ?, ?, ?, ?, and ? of the left leg are 0.77?, 1.48?, 4.07?, 1.07?, and 3.74?, respectively. n field testing, Robot 1 exhibits balanced walking during Semarang Gambang dance movements, although its walking direction is slightly off. Meanwhile, Robot 2 experiences falls due to servo delays..
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