Internati
o
nal
Journal of Ele
c
trical
and Computer
Engineering
(IJE
CE)
V
o
l.
5, N
o
. 2
,
A
p
r
il
201
5, p
p
.
25
1
~
25
8
I
S
SN
: 208
8-8
7
0
8
2
51
Jo
urn
a
l
h
o
me
pa
ge
: h
ttp
://iaesjo
u
r
na
l.com/
o
n
lin
e/ind
e
x.ph
p
/
IJECE
Design and Implementations of
Control System Quadruped
Robot Driver Application
Based on Windows Platform
Ma
de S
u
d
a
rm
a, IB
A.
Sw
am
ardi
k
a
,
IW.
D
a
ni
Pr
an
at
a.
Department o
f
Electrical and Co
mputer
Engin
eer
ing, Faculty
of
Engineer
i
ng, Uday
an
a Univ
ersity
,
Bali, Indonesia
Article Info
A
B
STRAC
T
Article histo
r
y:
Received Nov 25, 2014
Rev
i
sed
Jan 20, 201
5
Accepte
d
Fe
b 7, 2015
W
i
reless rem
o
te
devic
e
con
t
rol
s
y
stem
is a
c
ontrolling
m
e
th
od which is
widely
used in
various fields. B
y
using wireless communication media,
rem
o
te contro
l
s
y
s
t
em
becom
e
s
m
o
re effici
e
n
t and flex
ibl
e
.
Com
puter
application is one of the devices wh
ich can b
e
used to perfo
rm remote
controll
ing. Co
m
puter applic
ati
on can be m
a
de
in accord
ance
with the nee
d
of its users
in
conducting dev
i
ce
cont
rolling
f
r
om the distance. R
e
mote
controlling is als
o
can be applied
on the
robotic fi
eld. One of th
e e
x
am
ples
is
wireless remote
controlling of
Quadr
uped Robo
t. B
y
utilizing its Windows
appli
cat
ion s
u
ch
as
Vis
u
al B
a
s
i
c in ord
e
r to
es
t
a
blis
h com
m
unicat
ion with
wireless communication module
such as
Xbee-PRO, a contro
l s
y
stem can
be
designed which
can b
e
used
to
contro
l the movement of Quadr
uped Robo
t
wirelessly
.
Wireless communi
cation module is
also has
to b
e
installed
an
d
able to
perform
data com
m
unica
tion
with the
d
e
vice to
be contr
o
lled that is
Quadruped Rob
o
t.
The additio
n of ca
mera which
is also
using wireless
communication
s
y
stem will be
ver
y
he
lpful for
the users
in k
nowing th
e
condition
around
Quadruped
Rob
o
t.
Keyword:
Co
n
t
ro
ller app
licatio
n
Qua
d
ru
pe
d r
o
b
o
t
Ro
bo
tic con
t
roller
Xbee
-PR
O
Copyright ©
201
5 Institut
e
o
f
Ad
vanced
Engin
eer
ing and S
c
i
e
nce.
All rights re
se
rve
d
.
Co
rresp
ond
i
ng
Autho
r
:
Dr.
I
r
. M
a
de
S
uda
rm
a, M
.
A.
Sc.,
Depa
rtem
ent of Electrical a
nd Co
m
p
u
t
er
Engin
eer
ing
,
Engineeri
n
g Fa
culty,
Ud
ayan
a Un
iv
ersity,
Ji
m
b
ar
an
Cam
p
u
s
,
K
u
ta 803
61
, Bali,
I
ndo
n
e
sia.
Em
a
il:
m
s
u
d
a
rma@ee.un
ud
.ac.id
,
Telp
./Fax
.
: +62
361
703
31
5
1.
INTRODUCTION
Co
m
p
u
t
er ap
p
l
icatio
n
is a seri
es o
f
co
m
p
u
t
er so
ftware wh
ich
is u
s
in
g
th
e cap
a
b
ility o
f
th
e co
m
p
u
t
er
itself to pe
rform certain tasks accordi
ng t
o
the wis
h
of
i
t
s users
to ac
hieve ce
rtain
objective
.
Com
puter
appl
i
cat
i
o
ns a
r
e vast
l
y
m
a
de and
de
vel
o
pe
d
fo
r
vari
ous
t
h
i
ngs
, s
u
c
h
as
w
o
r
d
,
n
u
m
b
er a
n
d
pi
ct
u
r
e
pr
oc
essi
ng
,
and m
a
ny
ot
he
r p
u
r
p
oses [
1
-5
]
.
The de
vel
o
p
m
ent
and cr
eat
i
on
of c
o
m
put
er ap
pl
i
cat
i
on i
s
not
l
i
m
i
t
e
d on
l
y
on
the factories
or developm
ent com
p
an
ies and com
puter
m
a
nufact
ure
r
s [6].
A
l
m
o
st an
yb
od
y w
h
o
is m
a
s
t
er
in
g
a programm
in
g language ca
n create t
h
eir
own c
o
m
puter
applications,
as well as developing t
h
e existing
com
put
er ap
pl
i
cat
i
on. C
o
m
p
u
t
er appl
i
cat
i
on
i
s
al
so can be
use
d
t
o
per
f
o
r
m
t
h
e job
out
s
i
de of t
h
e c
o
m
put
e
r
,
suc
h
as
pe
rf
or
m
i
ng t
h
e c
o
nt
r
o
l
l
i
ng t
o
wa
r
d
s
t
h
e de
vi
ce
o
u
t
s
i
d
e o
f
t
h
e c
o
m
put
e
r
[
7
]
.
In th
is st
u
d
y
a
wind
ows
app
licatio
n
will b
e
d
e
sign
ed
wh
ich
will
b
e
u
s
ed
to
p
e
rform
th
e
con
t
ro
llin
g
t
o
wa
rds
a m
ovem
e
nt
of
f
o
u
t
-fo
ot
ed
r
o
bot
,
o
r
ca
n
be ca
l
l
e
d wi
t
h
Q
u
a
d
r
u
ped
R
o
bot
,
fr
om
t
h
e di
st
ance
.
W
i
ndows appli
cation acts as the comm
and sende
r, wh
e
r
eas
Qua
d
rupe
d R
o
bot acts as the command re
ceiver.
The t
r
an
sm
i
ssion
of c
o
m
m
a
nd i
n
st
ruct
i
o
n
i
s
cond
uct
e
d
t
h
r
o
u
g
h
wi
rel
e
ss com
m
uni
cat
i
on m
e
di
a by usi
n
g
Xbee
-P
ro
wi
re
l
e
ss m
odul
e.
W
i
rel
e
ss c
o
m
m
uni
cat
i
on m
e
di
a i
s
sel
ect
e
d
si
nce t
h
e t
r
ansm
i
ssi
on p
r
ocess
o
f
co
mman
d
in
st
ru
ction
will no
t d
i
stu
r
b
th
e
m
o
v
e
m
e
n
t
o
f
Qu
adrup
e
d
Rob
o
t
. Th
e m
o
v
e
m
e
n
t
o
f
Qu
ad
rup
e
d
R
o
b
o
t
w
h
i
c
h
c
a
n
be c
ont
r
o
l
l
e
d, am
on
g
ot
he
rs,
wal
k
i
ng
f
o
r
w
ar
d,
wal
k
i
n
g
back
wa
rd
, wal
k
i
n
g t
o
t
h
e l
e
ft
si
de
an
d
t
o
th
e right sid
e
, th
e settin
g
o
f
robo
t’s altitu
d
e
, and
cr
i
sscrossing
to
t
h
e left sid
e
and
to
th
e ri
g
h
t
sid
e
on
certain a
ngles
[8-10].
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
088
-87
08
IJEC
E V
o
l
.
5, No
. 2, A
p
ri
l
20
15
:
25
1 – 2
5
8
25
2
2.
R
E
SEARC
H M
ETHOD
The
fol
l
o
wi
n
g
act
i
v
i
t
y
of
rese
arch
an
d
desc
ri
bed
o
f
t
h
e re
se
arch
m
e
t
hod s
u
ch as:
2.
1.
Software
desi
gn
1.
Visu
a
l
Basic 20
08
Exp
r
ess Ed
itio
n
:
It
i
s
use
d
t
o
devel
o
p
ot
her
ap
pl
i
cat
i
o
n
base
d
o
n
Wi
n
d
o
w
s
o
p
erat
i
n
g
syste
m
. In
th
is stu
d
y
,
Visu
al
Basic 2
0
0
8
Exp
r
ess
Ed
itio
n
ap
p
lication
will b
e
u
s
ed
to
d
e
velo
p
ap
p
lication
t
o
co
nt
r
o
l
t
h
e
m
ovem
e
nt
of
Qua
d
ru
pe
d R
o
bot
[
8
]
.
2.
Codevision AV
R
: It is
u
s
ed
t
o
p
e
rfo
r
m
th
e
prog
ramm
in
g
for th
e m
i
cro
c
o
n
tro
ller
In
teg
r
at
ed
Circu
it (IC)
whi
c
h i
s
a
m
a
i
n
pr
ocessi
ng
uni
t
p
r
esenc
e
i
n
Qua
d
ru
p
e
d R
o
bot
.
In
t
h
i
s
st
udy
,
C
ode
vi
si
o
n
A
V
R
ap
p
lication
will b
e
u
s
ed
to p
e
rform
p
r
og
ram
m
in
g
on
Qu
adru
p
e
d
R
o
b
o
t
[1,1
0
]
.
3.
X-CTU so
ftware
:
It
i
s
used t
o
pe
rf
orm
conf
i
g
u
r
at
i
on
fo
r X
B
ee wi
rel
e
ss m
odul
e. B
e
si
d
e
s fo
r pe
rf
orm
i
n
g
co
nfigu
r
ation,
X-CTU so
ft
ware also h
a
s so
m
e
o
t
h
e
r
facilit
ies su
ch as, PC Setting
,
Ran
g
e
Test, and
Term
inal. PC Setting facility is used t
o
pe
rform
c
onnection trial
betwee
n PC and
XBe
e
m
odule. Ra
nge
Test facility is
use
d
to
perform
the accuracy
m
easurem
ent of
data tra
n
sm
i
ssion a
n
d recei
ving by
2
XBe
e
m
odules in t
h
e
certain
distance [2]. Term
inal facility
is used to dis
p
lay
the data
being transm
itted and
receive
d
by XBee m
odules.
2.
2.
Hardw
a
re de
s
i
gn
1.
XBee-PR
O Ser
i
es I 60 mW
:
i
s
an el
ect
roni
c
m
odul
e use
d
t
o
perf
orm
dat
a
co
m
m
uni
cati
on wi
rel
e
ssl
y
.
Prot
oc
ol standard
being
use
d
is ZigBee
whic
h re
fers
to the sta
nda
rd of
IEEE 802.15.4. Worki
ng
fre
que
ncy
bei
n
g use
d
i
s
2.
4 G
h
z, wi
t
h
t
h
e ra
nge
o
f
i
n
d
o
o
r
c
o
m
m
unication
as fa
r as
1
3
3
fe
et or
4
0
m
e
ters,
and t
h
e ra
nge
of
out
do
o
r
co
m
m
uni
cat
i
on as far as 4
0
0
f
eet
or 1
2
0
m
e
t
e
rs. The s
p
ee
d o
f
R
F
(R
ad
i
o
Fre
que
ncy
)
dat
a
t
r
ansfe
r
i
s
2
5
0
,
0
0
0
bps
, an
d
t
h
e spee
d o
f
se
ri
al
com
m
uni
cat
i
on dat
a
t
r
a
n
s
f
er i
s
1
,
2
0
0
b
p
s
up
t
o
1
M
b
ps.
For
t
h
e
sy
st
em
t
o
w
o
r
k
pr
o
p
e
r
l
y
, XB
ee
-PR
O
Se
ri
es
I
6
0
m
W
re
qui
res
p
o
we
r s
u
ppl
y
of
2.
8
V
DC
u
p
t
o
3.
3
V
DC
[2
,5
].
2.
ATm
e
ga
128
0
:
It
i
s
a
m
i
crocont
r
o
l
l
e
r IC
w
h
i
c
h i
s
bei
n
g m
a
nu
fact
u
r
ed
by
At
m
e
l
from
t
h
e fam
i
ly
of
A
V
R
(Al
f
an
d
Ve
ga
rd
’s R
i
se)
.
AT
m
e
ga12
8
0
has
a pac
k
a
g
e
fo
r
m
of TQF
P
(
T
hi
n
Pr
o
f
i
l
e
P
l
ast
i
c
Qua
d
Fl
at
Packa
g
e). AT
mega1280
is selected as
m
a
in proces
sing
un
it, sin
ce it h
a
s f
l
ash
m
e
m
o
r
y
to
sto
r
e pr
ogr
am
o
f
12
8
Kilo
Byte, and
ad
equ
a
t
e
facility to
p
e
rfo
r
m
a
ll th
e p
r
o
cess to
d
r
i
v
e Qu
adrup
e
d
R
o
bo
t. Th
e
facility
include
s, 4 units
of 16-bit
timers
to dri
v
e
each foot of
Quadrupe
d
R
o
bot, t
h
e s
p
ee
d
of instruction
ex
ecu
tion
u
p
t
o
16
MIPS
(Millio
n
In
stru
ctio
n
s
p
e
r Sec
ond
), 54
/86
I/O (Inpu
t/Ou
t
p
u
t
)
p
o
rts wh
ich
can
be
pr
o
g
ram
m
ed,
US
AR
T seri
al
com
m
uni
cat
i
on t
o
com
m
uni
cat
e wi
t
h
XB
ee-PR
O Se
ri
es I 60 m
W
m
odul
e
[4
,6]
.
3.
Serv
o Mot
o
r
: It is a DC m
o
t
o
r
wh
ich
its shaft ro
tation
a
n
g
l
e can be set
b
y
pro
v
i
d
i
ng ce
r
t
ai
n P
W
M
(
P
ul
se
W
i
dt
h
M
o
dul
a
t
i
on)
p
u
l
s
e val
u
e t
o
t
h
e ser
v
o
m
o
t
o
r.
P
W
M
i
s
a sq
uare
wa
ve si
g
n
al
wi
t
h
fi
xe
d f
r
eq
ue
nc
y
,
but
ha
vi
n
g
a ra
t
i
o
of
hi
gh
p
u
l
s
e an
d l
o
w p
u
l
s
e t
h
at
can
be se
t
[3]
.
I
n
eac
h
f
oot
of
Q
u
ad
r
u
p
e
d R
o
b
o
t
uses
1
u
n
it of
serv
o
m
o
to
r
H
S
-2
25MG
,
and
2
u
n
its o
f
H
S
-
645MG
.
Th
ese two
typ
e
s o
f
serv
o
s
h
a
v
e
ang
u
lar
m
ovem
e
nt
ran
g
e
of
1
8
0
de
gr
ee. Se
rv
o
m
o
t
o
r
HS-
6
45M
G
h
a
s a
phy
si
cal
f
o
rm
and
t
o
rq
ue
w
h
i
c
h
i
s
great
er
t
h
an ser
v
o HS
-2
2
5
M
G
. Se
rv
o HS
-2
2
5
M
G
has a t
o
rq
ue re
achi
n
g 4.
8 k
g
.
c
m
,
whereas s
e
rv
o HS
-6
4
5
M
G
has a
t
o
r
q
ue
re
achi
n
g
9.
6
kg
.c
m
.
Fi
gure
1 i
s
a l
a
y
i
ng sy
st
e
m
of ser
v
o
H
S
-
2
2
5
M
G
i
n
t
h
e
coxa
sect
i
o
n.
Fig
u
r
e
1
.
D
e
si
g
n
of
H
S
-
225MG
servo
m
o
to
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
ECE
I
S
SN
:
208
8-8
7
0
8
Design
an
d
Imp
l
emen
ta
tion
s
o
f
Con
t
ro
l S
y
st
em Quad
rup
e
d
Robo
t
Driver App
lica
tio
n
…
(
M
ade S
u
d
a
r
m
a)
25
3
2.
3.
The
Desi
gn of Quadrupe
d Rob
o
t
Qu
adrup
e
d
Rob
o
t
acts as an
en
tity wh
ich
its
m
o
v
e
m
e
n
t
will b
e
co
n
t
ro
lled
.
Qu
ad
ru
ped
Ro
bo
t
uses
m
i
croco
n
t
r
ol
l
e
r ATm
e
ga12
8
0
as a con
t
ro
l
un
it and
m
a
in
pro
cessing
u
n
it.
In Figu
re
2
th
e m
a
in
d
r
iv
er
on
each
f
o
o
t
o
f
Qu
adrup
e
d Robo
t is usin
g servo
m
o
to
r H
S
-2
25
MG and
H
S
-
645
MG
w
h
ich
is
u
s
ed
as a m
o
to
r
.
Each
fo
ot
of
Q
u
ad
r
u
ped
R
o
b
o
t
has
3
DO
F (
D
e
g
re
e o
f
F
r
eed
om
).
Fi
gu
re
2.
Desi
gn
o
f
p
h
y
s
i
cal
fo
rm
of
qua
dr
u
p
ed
r
o
bot
There a
r
e four
m
a
in entit
ies
whic
h are inte
r-c
onnected a
n
d each
has a
n
im
portant rol
e
. The four
en
tities
are,
1 u
n
it
lap
t
op
o
r
PC
with W
i
ndo
ws o
p
e
ra
ting
syste
m
, 2
u
n
its of
XBee-PRO Series I 60 mW, on
e
Qua
d
rupe
d Robot,
one wi
reless ca
m
e
ra,
and one wireless c
a
m
e
ra receiver. The utilization of
wireless ca
m
e
ra
d
e
v
i
ce is in
tend
ed to h
e
l
p
find
ing
o
u
t
th
e
situ
atio
n arou
nd
Qu
adrup
e
d
Rob
o
t
, wh
en
t
h
e
p
o
s
ition
of
Quad
rup
e
d
R
o
b
o
t
i
s
o
u
t
o
f
vi
e
w
or
bl
oc
ked
by
ce
rt
ai
n
t
h
i
n
g [
2
]
.
Fi
g
u
re
3 i
s
t
h
e
di
r
ect
i
on
of
dat
a
fl
o
w
an
d t
h
e p
r
oces
s
per
f
o
r
m
e
d, d
u
r
i
ng t
h
e c
o
nt
rol
l
i
ng
pr
ocess
,
t
h
e m
ovem
e
nt
of
Q
u
a
d
r
upe
d
R
o
b
o
t
i
s
usi
n
g
ap
pl
i
cat
i
on
ba
sed
o
n
W
i
nd
ow
s.
Fi
gu
re
3.
Di
rec
t
i
on
of
dat
a
fl
o
w
t
h
e
m
ovem
e
nt
o
f
q
u
ad
ru
pe
d
ro
b
o
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
088
-87
08
IJEC
E V
o
l
.
5, No
. 2, A
p
ri
l
20
15
:
25
1 – 2
5
8
25
4
The
desi
g
n
of
cont
rol
l
e
r a
p
pl
i
cat
i
on bei
n
g
d
e
vel
o
ped
,
i
t
ha
s a q
u
i
t
e
si
m
p
le di
spl
a
y
.
The
fu
nct
i
o
n
o
f
ev
ery ex
istin
g
b
u
tton
and
con
t
ro
l facility is
equ
i
pp
ed
w
ith
icon
represen
tin
g
th
e fun
c
t
i
o
n
o
f
th
at b
u
t
to
n
or
co
n
t
ro
l
facility
. Th
ere are
1
8
facilities o
w
ned
b
y
th
e con
t
ro
ller app
licatio
n, co
n
s
ists
of 12
co
n
t
ro
l
facilit
ies
an
d
6
d
i
sp
lay facilities. Besi
d
e
s it is u
s
in
g
th
e facilit
ies
o
n
th
e con
t
ro
ller ap
p
lication
,
so
m
e
b
u
tto
n
s
o
n
the
k
e
ybo
ard
also
can
be u
s
ed
t
o
p
r
ov
id
e instructio
n
s
to
Qu
adrup
e
d
Rob
o
t
.
Th
e
u
tilizatio
n
o
f
so
m
e
k
e
ybo
ard
’
s
b
u
tton
s
is li
m
i
t
e
d
o
n
l
y to sev
e
ral sim
p
le in
stru
ctio
ns [9
].
Th
e action
or
v
a
lu
e ch
an
g
e
carried
ou
t on
each
con
t
ro
l facilit
y will b
e
in
terpreted
as
g
i
vin
g
an
ord
e
r
an
d
t
h
e tran
smissio
n
pro
c
ess o
f
co
mm
an
d
v
a
l
u
e will be
carried
ou
t 5
ti
m
e
s to
th
e Qu
ad
rup
e
d
Ro
bo
t, i
n
accorda
n
ce with comm
and value being owne
d or re
ferre
d
on the concerne
d control f
acility. The repeate
d
data
tran
sm
issio
n
of 5 tim
es is ai
med
to
redu
ce
th
e risk
o
f
th
e occurre
nce of
reading
e
r
rors
du
e to th
e l
o
ss
o
f
d
a
t
a
or
dam
a
ged d
a
t
a
. Tabl
e 1 i
s
a correl
a
t
i
o
n
bet
w
ee
n com
m
and val
u
e b
e
i
ng t
r
a
n
sm
i
tted an
d t
h
e m
ovem
e
nt
wh
ich
will
b
e
p
e
rform
e
d
b
y
t
h
e Qu
adrup
e
d
Ro
bo
t.
Tabl
e
1. C
o
r
r
el
at
i
on
bet
w
ee
n
com
m
a
nd
val
u
e an
d t
h
e
m
ove
m
e
nt
of
Q
u
a
d
r
upe
d R
o
bot
.
Value
Trans
m
itted
Obje
ctive Activit
y
Facility Being Us
ed
0
1
2
3
4
5
10-
76
77-
86
87-
105
106-
11
6
Rest
Backward
Forward
Lef
t
Right
Standby
r
eady
Setting of cam
e
r
a
angle 0
0
-
300
0
Setting of hor
izont
al angle
of r
obotic bo
dy
0
0
-5
0
0
Setting of robot’s altitude
0
0
-
180
0
I
n
str
u
ction of left
or
r
i
ght
crisscrossing 0
0
-5
0
0
Button “F” or
r
a
dio button
“Res
t” on
contr
o
ller
software
Button “S” or
back
war
d
button on co
ntr
o
ller
softwar
e
Button “W
” or
for
w
ar
d button on co
ntr
o
ller
softwar
e
Button “A” or
left button
on
co
n
t
ro
ller so
f
t
ware
Button “D” or
r
i
gh
t button on contr
o
l
l
er
softwar
e
Button “F” or
butt
on pause or
r
a
dio
button “Ready
”
on
contr
o
ller
softwar
e
T
r
ack bar no.
9
T
r
ack bar no.
10
T
r
ack bar no.
12
T
r
ack bar no.
11
Vide
o display application is an a
dditiona
l a
pplication whic
h
can be
accessed from
controller
application tha
t
will be use
d
to display the
vide
o r
ecei
ve
d from
wireless cam
era. The
source
of pict
ure
or
vide
o is obtai
ned
from
ca
mera recei
ve
r connected
with PC or laptop
by using USB cable. Vide
o dis
p
lay
ap
p
lication
h
a
s a si
m
p
ler d
i
sp
lay co
m
p
ared
with con
t
ro
ller app
licatio
n. Vid
e
o
d
i
sp
lay ap
p
licatio
n
h
a
s
4
facilities, a
m
o
n
g
o
t
h
e
rs,
3
con
t
ro
l facilities an
d on
e
d
i
sp
lay facility.
3.
R
E
SU
LTS AN
D ANA
LY
SIS
Ph
ysical fo
rm
o
f
Qu
ad
ru
p
e
d
Ro
bo
t
wh
ich
acts as th
e en
tity co
n
t
ro
lled b
y
its m
o
v
e
m
e
n
t
, is shown
with
th
e fo
llowin
g
Figu
re 4.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
ECE
I
S
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:
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8-8
7
0
8
Design
an
d
Imp
l
emen
ta
tion
s
o
f
Con
t
ro
l S
y
st
em Quad
rup
e
d
Robo
t
Driver App
lica
tio
n
…
(
M
ade S
u
d
a
r
m
a)
25
5
Fi
gu
re
4.
P
h
y
s
i
cal
per
f
o
r
m
a
nce o
f
qua
dr
u
p
ed
r
o
b
o
t
The
res
u
l
t
of
cont
rol
l
e
r a
p
pl
i
cat
i
on ba
sed
on
W
i
nd
o
w
s
whe
n
t
h
e c
o
m
m
a
nd “
r
est
”
i
s
act
i
v
at
ed, i
s
sho
w
n wi
t
h
Fi
gu
re
5 w
h
erea
s Fi
gu
re
6 i
s
a
di
spl
a
y
whe
n
the comm
and “
r
eady” is
activated. T
h
e numberi
n
g
in
red
with
m
o
d
e
rate size, which
laid
o
n
each
of con
t
ro
lle
r
ap
p
lication
facilit
y, is in
ten
d
e
d
to
h
e
lp
ex
p
l
ain
th
e
descri
ption
of each facility.
Fig
u
re
5
.
Con
t
ro
ller ap
p
lication
s
d
i
sp
lay
with activ
e rest
Fig
u
re
6
.
Con
t
ro
ller ap
p
lication
s
d
i
sp
lay
with read
y activ
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
088
-87
08
IJEC
E V
o
l
.
5, No
. 2, A
p
ri
l
20
15
:
25
1 – 2
5
8
25
6
The de
scripti
o
n of each
facility
is in accorda
n
ce
with t
h
e num
bering
whic
h has
bee
n
stated, as
fo
llows:
1.
R
a
di
o B
u
t
t
o
n
i
s
t
o
gi
ve
rest
i
n
st
ruct
i
o
n t
o
t
h
e
Q
u
ad
r
upe
d R
o
bot
.
2.
Rad
i
o
B
u
tto
n i
s
to
g
i
v
e
standb
y in
stru
ction
o
r
read
y to
receiv
e in
stru
ction
fro
m
co
n
t
ro
ller so
ft
ware.
3.
C
h
eck B
ox i
s
t
o
act
i
v
at
e t
h
e use o
f
m
oni
t
o
r
on c
ont
r
o
l
l
e
r
soft
ware t
o
di
s
p
l
a
y
t
h
e pi
ct
ur
e obt
ai
ne
d f
r
o
m
wireless cam
era.
4.
For
w
a
r
d
B
u
t
t
o
n, t
o
gi
ve c
o
m
m
and
fo
r
wal
k
i
n
g
f
o
r
w
a
r
d
.
5.
R
i
ght
B
u
t
t
o
n,
t
o
gi
ve c
o
m
m
and
f
o
r
wal
k
i
n
g
t
o
wa
rd
t
h
e
ri
g
h
t
.
6.
B
ackwa
rd
B
u
t
t
on
, t
o
gi
ve c
o
m
m
a
nd f
o
r
wal
k
i
n
g
back
wa
rd
.
7.
Left Bu
tton
,
to g
i
v
e
co
mm
an
d
for
walk
ing
t
o
ward
th
e left.
8.
Stan
db
y B
u
tton
,
t
o
g
i
v
e
co
m
m
an
d
to standby.
9.
Track Bar t
o
drive the c
a
m
e
ra.
10.
Track
B
a
r t
o
di
rect
h
o
ri
z
ont
al
angl
e
o
f
Q
u
a
d
r
upe
d R
o
b
o
t toward
v
e
rtical ax
is. Th
e ch
an
ge o
f
th
e ang
l
e i
s
carried ou
t
when
Qu
adrup
e
d
Ro
bo
t is in th
e
state o
f
m
o
tio
nless.
11.
Track Bar t
o
gi
ve instructi
o
n to turn in the
pl
ace.
12.
Track
Bar to
ad
ju
st th
e altitud
e
of th
e
robo
t
.
Th
is m
o
tio
n
i
s
p
e
rfo
rm
ed
wh
en
Qu
adru
p
e
d
Robo
t is in
th
e
state of m
o
tionless.
13.
Tex
t
Box
t
o
d
i
sp
lay th
e altitud
e
v
a
lu
e
po
in
ted
b
y
th
e t
r
ack
b
a
r of altitu
d
e
regu
lato
r.
14.
Text
B
o
x t
o
di
spl
a
y
t
h
e cam
era a
ngl
e
val
u
e
poi
nt
ed
by the
track
bar of ca
mera angle re
gulator.
15.
Text
B
o
x
w
h
i
c
h i
s
bei
n
g
use
d
t
o
di
spl
a
y
t
h
e
ho
ri
zo
nt
al
an
gl
e val
u
e
poi
nt
ed
by
t
h
e
t
r
ac
k
bar
o
f
ho
ri
zo
nt
al
angl
e re
gul
at
o
r
o
f
Q
u
a
d
r
u
ped
R
o
b
o
t
.
16.
Text
B
o
x
w
h
i
c
h i
s
bei
n
g
use
d
t
o
di
spl
a
y
t
h
e
t
u
r
n
i
n
g a
ngl
e
v
a
l
u
e p
o
i
n
t
e
d
b
y
t
h
e t
r
ac
k
bar
of t
u
r
n
i
n
g a
n
gl
e
regu
lato
r.
17.
Text
B
o
x t
o
di
spl
a
y
t
h
e l
e
t
t
e
r
of
t
h
e
b
u
t
t
o
n
p
r
esse
d
on
t
h
e
k
e
y
boa
rd
t
o
gi
v
e
com
m
and.
18.
Tex
t
Box
t
o
d
i
sp
lay th
e
v
a
lu
e of in
st
ru
ction
b
e
ing
tran
sm
itt
ed
.
Fi
gu
re
7.
X
-
C
T
U a
p
pl
i
cat
i
o
n
di
s
p
l
a
y
The testing
of controller appli
cation is c
o
nducted by
way of c
o
nnecti
n
g XBee
-PRO receive
r
on
Qua
d
ru
pe
d R
o
bot
wi
t
h
PC
a
nd act
i
v
at
es
X
-
C
T
U a
p
pl
i
cat
i
on
on t
h
e PC
.
It
i
s
aim
e
d t
o
read t
h
e res
u
l
t
dat
a
receive
d by XBee-PRO
receive
r
from
XBee-PRO tra
n
sm
itt
er through te
rminal facilit
y on X-CTU a
p
plication
[5
]. By co
nd
uctin
g
th
e testin
g
to
ward
th
e t
r
an
sm
issio
n
o
f
5
sa
m
p
les co
mman
d
d
a
ta, trial resu
lt is o
b
t
ain
e
d
wh
ich
is
su
m
m
arized
sh
ow
in
Tab
l
e
2
.
Based
on
th
e
d
a
ta ob
tain
ed
,
d
a
t
a
v
a
l
u
e
wh
ich
is b
e
ing
sen
t
an
d the
am
ount
o
f
dat
a
bei
n
g sent
i
s
m
a
t
c
hi
ng, so
t
h
at
cont
rol
l
e
r
ap
pl
i
cat
i
on has b
een ru
n
n
i
n
g w
e
l
l
.
Tab
l
e
2
.
Th
e trial resu
lt of t
r
an
sm
it
tin
g
co
m
m
an
d
d
a
ta
No.
Button
Value sent
Value
received
Am
ount of data
sent
Am
ount of data
received
1
Forward
2
2
5
5
2
Right
4
4
5
5
3
Backward
1
1
5
5
4
Lef
t
3
3
5
5
5
Standby
5
5
5
5
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
ECE
I
S
SN
:
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7
0
8
Design
an
d
Imp
l
emen
ta
tion
s
o
f
Con
t
ro
l S
y
st
em Quad
rup
e
d
Robo
t
Driver App
lica
tio
n
…
(
M
ade S
u
d
a
r
m
a)
25
7
The
di
spl
a
y
re
sul
t
o
f
vi
deo
di
spl
a
y
ap
pl
i
cat
i
on i
s
s
h
o
w
n
on
Fi
g
u
re
8
.
The
num
beri
n
g
i
n
re
d
o
n
Fig
u
re 8
is in
ten
d
e
d
to
sim
p
l
i
fy th
e d
e
scriptio
n
reg
a
rd
ing
fun
c
tion
o
f
each
facility o
w
n
e
d
b
y
v
i
d
e
o
d
i
sp
l
a
y
ap
p
lication
.
Fi
gu
re
8.
Vi
de
o a
ppl
i
cat
i
o
n
d
i
spl
a
y
pre
v
i
e
w
The desc
ription of eac
h vide
o display
application facility
is in accorda
n
c
e
with the num
b
ering being stated,
as fo
llo
ws:
1.
Mo
n
itor to d
i
sp
lay th
e
p
i
ctu
r
e b
e
ing
sen
t
b
y
cam
era tran
smitter p
r
esen
ce
on
Qu
adrup
e
d
R
o
bo
t.
2.
Bu
tto
n
to
acti
v
ate th
e pro
c
ess o
f
im
ag
e cap
ture fro
m
ca
mera tran
sm
it
t
e
r and
th
en
to d
i
sp
lay it to
t
h
e
m
o
n
ito
r.
3.
Bu
tto
n to
t
u
rn
o
f
f
th
e pro
cess
o
f
cap
t
u
r
i
ng
and
d
i
sp
laying
i
m
ag
e.
4.
Text
B
o
x
whi
c
h di
s
p
l
a
y
s
di
rect
ory
t
o
cap
t
u
re i
m
age dat
a
sent
by
cam
era t
r
a
n
sm
it
t
e
r on
Q
u
a
d
r
upe
d
Ro
bo
t.
The t
e
st
i
ng
of
vi
de
o di
s
p
l
a
y
appl
i
cat
i
on
i
s
carri
ed
out
by
capt
u
ri
n
g
t
h
e im
age di
rect
l
y
from
W
i
ndows
camera through
wireless cam
era
receiver. T
h
e
trial res
u
lt can
be see
n
i
n
Figure
9. Base
d
on the
result
obtaine
d, it can
be se
e
n
that
vide
o
display ap
plication has succee
ded
to di
s
p
lay vide
o
or live
view
cap
tured b
y
wireless cam
era. Based
o
n
th
e testin
g
toward all o
f
con
t
ro
l facilit
ies in
prov
idin
g
t
h
e co
mma
n
d
t
o
Qua
d
ru
pe
d R
o
bot
, t
h
e res
u
l
t
i
s
obt
ai
ne
d t
h
at
Qua
d
ru
pe
d R
o
bot
ca
n pe
rf
or
m
t
h
e
m
ovem
e
nt
whi
c
h i
s
m
a
t
c
hi
ng
wi
t
h
c
o
m
m
and val
u
e
gi
ven
on
co
nt
r
o
l
l
e
r s
o
ft
ware
wel
l
.
[9]
Fi
gu
re 9.
Vi
de
o di
spl
a
y
a
ppl
i
cat
i
on pre
v
i
e
w
4.
CO
NCL
USI
O
N
B
a
sed o
n
t
h
e
r
e
sul
t
of t
h
e des
i
gn
of
rem
o
t
e
cont
rol
sy
st
em
appl
i
cat
i
on
ba
sed o
n
W
i
n
d
o
w
s o
p
e
r
at
i
n
g
sy
st
em
t
o
dri
v
e
q
u
ad
r
upe
d
ro
b
o
t
,
s
o
m
e
concl
u
si
o
n
s ca
n
be t
a
ken
nam
e
l
y
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
088
-87
08
IJEC
E V
o
l
.
5, No
. 2, A
p
ri
l
20
15
:
25
1 – 2
5
8
25
8
1.
C
ont
r
o
l
l
e
r a
p
pl
i
cat
i
on ca
n
pr
o
v
i
d
e a
n
d se
n
d
com
m
a
nd
val
u
e wel
l
t
o
t
h
e
Q
u
ad
r
upe
d R
o
b
o
t
.
2.
Th
e u
tilizatio
n o
f
v
i
d
e
o
d
i
splay ap
p
licatio
n
can
h
e
lp
th
e co
n
t
ro
lling
o
f
Qu
adrup
e
d
Rob
o
t
m
o
v
e
m
e
n
t
whe
n
Q
u
ad
r
u
p
e
d R
o
b
o
t
i
s
not
wi
t
h
i
n
t
h
e
ra
n
g
e
of
vi
e
w
,
or
bl
oc
ked
by
ce
r
t
ai
n t
h
i
n
g.
ACKNOWLE
DGE
M
ENTS
I w
oul
d l
i
k
e t
o
exp
r
ess m
y
very
great
a
p
p
r
ec
i
a
t
i
on t
o
r
o
bot
i
c
t
e
am
work
o
f
El
ect
ri
cal
and
C
o
m
put
er
En
gi
neeri
n
g
D
e
part
m
e
nt
, U
d
ay
ana U
n
i
v
er
rs
i
t
y
. Al
l
of
s
u
g
g
e
st
i
ons
d
u
ri
ng
t
h
e pl
a
n
ni
n
g
,
d
o
i
n
g
of
t
h
i
s
res
earch
work, a
n
d also
their
willingne
ss to
give
their
tim
e
so ge
nerously
m
u
st very
m
u
ch appreciated.
REFERE
NC
ES
[1]
Andrianto H
,
20
08, “
Pemrograman Mikrokon
troler
AVR
ATmega16 Menggunaka
n
Bahasa C
[
C
o
d
eVision
AVR
]
,”
Bandung : Infor
m
atika B
a
ndung
[2]
Anonim
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t
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y
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asheet
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a
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ra
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ˮ
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li
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r
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g
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rjan
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ivers
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y
an
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n
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128K/256K Bytes In
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ttp://www.atmel.com/imag
es/doc2549
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ngg
al 4
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Her
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anto, M.A
dan Wisnu, A
.
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, “Pemrograman
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a
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ak
arta:
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Kurniawan, E., 2
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arta: Andi.
Evaluation Warning : The document was created with Spire.PDF for Python.