Autonomous Grasping Pada Quadruped Robot Dengan Interaksi Berbasis Task Level

Rusydiansyah, Mochammad Hilmi (2025) Autonomous Grasping Pada Quadruped Robot Dengan Interaksi Berbasis Task Level. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Robot quadruped semakin banyak digunakan dalam berbagai aplikasi karena memiliki mobilitas tinggi dan kemampuan beroperasi di medan yang beragam. Namun, sebagian besar robot quadruped yang tersedia saat ini hanya difokuskan pada aspek mobilitas tanpa kemampuan manipulasi objek. Jika robot quadruped dilengkapi dengan lengan robot dan gripper, pengendalian secara manual menjadi tantangan tersendiri, terutama dalam skenario jarak jauh yang memerlukan kendali yang kompleks. Penelitian ini bertujuan mengembangkan sistem autonomous grasping pada robot quadruped dengan pendekatan interaksi berbasis task level. Sistem yang dikembangkan mencakup integrasi perangkat keras berupa lengan robot dan gripper pada tubuh robot quadruped, perancangan sistem kendali bertingkat menggunakan ROS, serta antarmuka web untuk interaksi manusia-robot. Robot dapat melakukan tugas mulai dari navigasi, deteksi objek, hingga grasping secara otonom menggunakan GraspNet. Pengujian dilakukan melalui skenario nyata untuk mengevaluasi navigasi, pemilihan dan pengambilan objek, serta user experience. Hasil menunjukkan bahwa robot mampu menjalankan tugas secara akurat dan konsisten, dengan tingkat keberhasilan grasping sebesar 76,6% dari 30 percobaan. Antarmuka web juga mendapat respons positif dari pengguna. Dengan demikian, sistem ini menunjukkan potensi besar dalam meningkatkan kapabilitas robot quadruped sebagai robot layanan di lingkungan nyata.
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Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation capabilities. Equipping a quadruped robot with a robotic arm and gripper introduces a challenge in manual control, especially in remote scenarios that require complex commands. This research aims to develop an autonomous grasping system on a quadruped robot using a task-level interaction approach. The system includes hardware integration of a robotic arm and gripper onto the quadruped robot’s body, a layered control system designed using ROS, and a web-based interface for human-robot interaction. The robot is capable of autonomously performing tasks such as navigation, object detection, and grasping using GraspNet. Testing was conducted through real-world scenarios to evaluate navigation, object selection and grasping, and user experience. The results show that the robot can perform tasks accurately and consistently, achieving a grasping success rate of 76.6% from 30 trials. The web interface also received positive feedback from users. Therefore, the system demonstrates significant potential in enhancing the capabilities of quadruped robots as service robots in real-world environments.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Autonomous Grasping, Robot Quadruped, Interaksi Task-Level; Autonomous Grasping, Quadruped Robot, Task-Level. Interaction.
Subjects:	T Technology > T Technology (General) > T59.7 Human-machine systems. T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots T Technology > TJ Mechanical engineering and machinery > TJ222 Supervisory control systems.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Computer Engineering > 90243-(S1) Undergraduate Thesis
Depositing User:	Mochammad Hilmi Rusydiansyah
Date Deposited:	31 Jul 2025 02:05
Last Modified:	31 Jul 2025 02:05
URI:	http://repository.its.ac.id/id/eprint/123291

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