Performance Analysis of Inverse Kinematics-Based Balance Control for Hexapod Stair Navigation

ELKOMIKA Jurnal Teknik Energi Elektrik Teknik Telekomunikasi & Teknik Elektronika 2026 Open access

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Authors: SYAFFEL SEAN RIZKINATA HERYAMAN, Khairul Anam, Wahyu Muldayani, Ali Rizal Chaidir, Dedy Wahyu Herdiyanto, CANDRA PUTRI RIZKIYAH RAMADHANI, AVIQ NURDIANSYAH PUTRA, Muchamad Arif Hana Sasono
DOI: 10.26760/elkomika.v14i2.261
Cited by: 1

Abstract

Maintaining body stability is a key challenge for hexapod robots in stair navigation. This study proposes an inverse kinematics (IK)-based approach for dynamic balance control using real-time joint angle computation. Experimental results show that the method maintains body orientation near a neutral position, achieving a minimum pitch angle of 7.3°, thereby improving stability and reducing mechanical collision risk. System performance is also influenced by actuator speed and battery voltage.

Fields of Study & Subjects

Robotic Locomotion and Control Biomimetic flight and propulsion mechanisms Prosthetics and Rehabilitation Robotics

Publication details

Journal / source
ELKOMIKA Jurnal Teknik Energi Elektrik Teknik Telekomunikasi & Teknik Elektronika
Publisher
Institut Teknologi Nasional, Bandung
Volume
14
Issue
2
Pages
261–261
Publication date
30 April 2026