Pengembangan Algoritma Gait Robot KRSRI ITN Malang Menggunakan Wave Gait dan Analisis Perbandingan Kinerjanya dengan Tripod Gait

This research develops a gait algorithm for the KRSRI ITN Malang robot using the wave gait method and compares its performance with the tripod gait in terms of energy efficiency and navigation accuracy on various types of terrain. Tests were conducted on flat terrain and broken roads with speed variations from 10 mm/s to 40 mm/s. Results show that on flat terrain, the wave gait is more energy efficient at low speeds (10-13 mm/s) with an average consumption of 0.338 Wh to 0.252 Wh compared to the tripod gait which consumes 0.343 Wh to 0.271 Wh. However, at high speeds (≥16 mm/s), the tripod gait was more efficient with a consumption of 0.098 Wh at 40 mm/s compared to the wave gait which consumed 0.195 Wh. In terms of distance traveled accuracy on flat terrain, the tripod gait was superior with an average of 91.7% compared to the wave gait which only reached 90.0%. On broken road terrain, the wave gait was superior in navigation accuracy with an average of 83.7% compared to the tripod gait which only reached 80.8%.