Tendangan Ke Gawang Berdasarkan Kemiringan Lintasan Bola Pada Robot Barelang Fc (Goal Kick From Moving Ball Task)

Abstract

Robot soccer is a humanoid robot that can dribble and kicking the ball towards the goal. In this case the robot used is a robot Barelang FC who follow RoboCup humanoid league. At the RoboCup humanoid league competitions are technical challenges, one of them is goal kick from moving ball. In this section, the robot should kick the ball moving from side of the field and the ball will be rolled from the top of the sloping track of different heights. Needed a software system that can make decisions and respond well to the ball. The approach used is to determine the coordinates of the ball movement parameter calculation. And then put into a software robot so that the robot can take the right decision on the movement of the ball that has been calculated by the robot. Where the height of the ball that will be rolled over the sloping trajectory altered to test the accuracy of the robot to move the ball. The test results show that the robot can execute the ball rolled from a well-tilted track of all experiments with three different experimental systems ie the execution system based on the ball time to the robot, ball execution system based on the GLBB equation, and the ball execution system by utilizing the robot head changes with 100% success percentage.