Pengendalian Gerak Robot Kepala Menggunakan Oculus Rift

Abstract

This final project has purpose to design and create a robot head which is can follow the movement of the human head and see what the head robot sees. Control of robot motion using sensors, microcontroller and actuator as input, process and output. However, the sensor which used all the time is a camera where the process detection of human movement and other processes become very long. This causes the movement of robot lagging behind human movement which govern on the streaming video have not real time when human start moving. Avoid it, this research using oculus rift as input of the head robot servo because there are gyroscope sensors which have low latency. There is a screen as display of streaming video, so theuser can see closely and real the robot seen because there is virtual reality technology that users feel like a robot. The robot head have an OVRVision stereo camera which can capture 3D image and be able to streaming as input display on Oculus Rift screen. The final result obtained is value of latency software and robot to 9.77 ms ± 10,232 ms and has error of the yaw is 0,7681 o, pitch error 0,685 o and error of left roll 0,556 o and right roll 0,529 o.