Pengembangan Plugin Blender untuk Pengendalian Servo Robot Humanoid Berbasis Dynamixel SDK

Ashdaqfillah, Muhammad Daffa (2025) Pengembangan Plugin Blender untuk Pengendalian Servo Robot Humanoid Berbasis Dynamixel SDK. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 5025211015-Undergraduate_Thesis.pdf - Accepted Version Download (1MB)

Abstract

Pengembangan robot humanoid memerlukan metode yang efektif untuk menciptakan dan mengendalikan gerakan yang kompleks. Penelitian ini berhasil mengembangkan plugin untuk Blender yang memungkinkan kontrol robot humanoid 17-DOF secara real-time menggunakan Dynamixel SDK melalui U2D2. Plugin ini memanfaatkan fitur animasi Blender untuk merancang gerakan robot secara visual, kemudian menerjemahkannya menjadi perintah servo secara real-time melalui komunikasi USB. Pendekatan ini bertujuan menyederhanakan proses pemrograman gerakan robot dengan memanfaatkan antarmuka animasi 3D yang familiar. Metodologi yang digunakan meliputi studi literatur, pemodelan 3D robot dan pembuatan animasi di Blender, pengembangan plugin dengan Python API Blender, integrasi Dynamixel SDK, serta pengujian sistem. Hasil implementasi menunjukkan bahwa robot yang terdiri dari 15 servo XL320 dan 2 servo MX28, berhasil dikendalikan dengan latensi komunikasi rata-rata sebesar 0.43 detik. Evaluasi pengujian usability menunjukkan tingkat kepuasan pengguna sebesar 92% pada aspek kemudahan instalasi, efisiensi animasi, dan desain antarmuka. Hasil penelitian membuktikan bahwa pendekatan ini efektif dalam menyederhanakan proses pemrograman gerakan robot humanoid dan memiliki potensi untuk diterapkan dalam pengembangan sistem robotik yang lebih kompleks di masa depan.
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Humanoid robot development requires effective methods for creating and controlling complex movements. This research successfully developed a plugin for Blender that enables real-time control of a 17-DOF humanoid robot using Dynamixel SDK through U2D2. The plugin utilizes Blender's animation features to design robot movements visually, then translates them into servo commands in real-time via USB communication. This approach aims to simplify the robot movement programming process by leveraging familiar 3D animation interfaces. The methodology includes literature study, 3D robot modeling and animation creation in Blender, plugin development with Blender's Python API, Dynamixel SDK integration, and system testing. Implementation results show that the robot consisting of 15 XL320 servos and 2 MX28 servos was successfully controlled with average communication latency of 0.43 seconds. Usability testing evaluation shows 92% user satisfaction in installation ease, animation efficiency, and interface design aspects. The research results prove that this approach is effective in simplifying the humanoid robot movement programming process and has potential for application in more complex robotic system development in the future.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Blender Plugin, Humanoid Robot, Dynamixel SDK, U2D2, Servo Control, Plugin Blender, Robot Humanoid, Dynamixel SDK, U2D2, Kontrol Servo
Subjects:	T Technology > T Technology (General) > T57.62 Simulation T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.4 Robot motion
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Informatics Engineering > 55201-(S1) Undergraduate Thesis
Depositing User:	Muhammad Daffa Ashdaqfillah
Date Deposited:	30 Jul 2025 03:53
Last Modified:	30 Jul 2025 03:53
URI:	http://repository.its.ac.id/id/eprint/123039

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