Development of wall follower hexapod robot

Abstract

This study aims to develop a six-legged robot that is able to walk in an arena that resembles a maze (maze wall) and is able to follow a wall (wall follower). This robot is competed in the Indonesian Robot Contest (KRI) in the Indonesian Fire Extinguisher Robot Contest (KRPAI) division which is held annually by the Directorate of Student Affairs, the Directorate General of Learning and Student Affairs, the Ministry of Research, Technology and Higher Education. The research design consisted of 4 stages, including: mechanical design, electronic design, joint movement design at the robot’s foot, and software design. The final result of this research was a six-legged robot design (hexapod) with robot dimensions of 29 cm × 29 cm × 25 cm (length × width × height). From several tests, the robot’s success rate in completing the mission was 100%, with an average time of 16.73 seconds and the fastest time to complete the mission reached 15.85 seconds. Thus, the robot is expected to be included in the Indonesian Robot Contest (KRI) in 2020.