A Review of
Method Controlled Robot vs Autonomous Robot
Muhammad Nicola Feby Salvaturi, 1103174172. Yudha Afriansyah, 1103170203.
Computer Engineering, Telkom University,
Jalan Telekomunikasi No.01 Terusan Buah Batu, 40257 Bandung, Indonesia
Abstract - In a robotic system
classified in two types, namely
autonomous robot and robot controller,
please note that we mean a robot that is the
main basic using an At-Mega328P or using
an Arduino Uno microcontroller board.
Autonomous robots are things that can be
done or driven by the robot itself. This
means that any robot that moves
automatically without the need for
interaction from humans, such schemes
can be done by entering an algorithm
command on a microprocessor system
where there is already CPU, ROM, RAM,
I / O. While the robot controller is a robot
that is almost the same as an autonomous
robot by entering an algorithm command
on a microprocessor system but this robot
requires direct human interaction as a
stimulus command against the robot. In
this paper, we will write a review of the
advantages, speed, accuracy, and lack of a
robotic system that uses basic autonomous
robots with a robot controller.
Keywords: Autonomous robot, Controller
robot. Arduino Uno, Ultrasonic, Servo
motor, Sound sensor, DC Motor, Motor
driver L298N, HC05..
I. INTRODUCTION
Now the smartphone gets stronger
with a reinforced processor, larger storage,
richer functions and more communication
methods. Current Bluetooth for data
exchange; Add new features to your
smartphone. Bluetooth technology, made by
Ericsson's telecom vendor in 1994,
demonstrates the advantages of integrating
with smartphones. It has changed people
using digital devices at home or office, and
has USB digital devices to wireless devices.
The Bluetooth host device can communicate
with the Bluetooth module at the same time.
Taking into account the normal work area
within a distance of eight meters, this is very
useful in the home environment. Thanks to
Bluetooth technology and similar techniques,
by customizing smartphone users,
smartphones have turned into portable
devices and can be used for their common
people. [1]
There are various ways to create a
robot controller. The method that makes the
robot move directly where the mass of the
robot continues to shift to stabilize the
structure posture. Another way to train
stabilization is to use accelerometer and gyro
sensors, or to use other sensors. We adopt the
first procedure to stabilize the structure. The
Foot Robot is made using servo motors and
the sensing is done with the help of ultrasonic
sensors and sound on the board. The basic
microcontroller ATmega8L acts as a task unit
and robot memory. The area involved in
achieving the objectives mentioned in this
report is testing. Risking human lives is no
longer a trend in the world and we ensure that
life can not be done to do the work that
machines can do! However, the big things
that happen in this circle are intelligence
machines. That's where we jump in artificial
intelligence. [1]
II. METHOD
From the survey results papers that
we see that the robot in the bluetooth
controlled the robot using a few modules and
low cost rather than autonomus biped robot.
For the Bluetooth controlled robot
architecture is more simple than autonomous
robot biped.
Figure 1 Architecture Autonomous Robot
Biped. [2]
A. Bluetooth Controlled Robot Specs
For Bluetooth Controlled Robot specs:
1. Arduino
Arduino is an open-source computer
hardware and software company, project and
user community that designs and
manufactures microcontroller-based kits for
building digital devices and interactive
objects that can sense and control objects in
the physical world. Arduino had used the
Atmel Atmega AVR series of chips,
specifically the ATmega8, ATmega168,
ATmega328, ATmega1280, and
ATmega2560. [1]
2. HC-05
A HC-05 module is an easy to use
Bluetooth SPP (Serial Port Protocol) module,
designed for transparent wireless serial
connection setup. Serial port Bluetooth
module is fully qualified Bluetooth
V2.0+EDR (Enhanced Data Rate) 3Mbps
Modulation with complete 2.4GHz radio
transceiver and baseband. It uses CSR Blue
core 04-External single chip Bluetooth
system with CMOS technology and with
AFH (Adaptive Frequency Hopping
Feature). It has the footprint as small as
12.7mmx27mm. Hope it will simplify your
overall design/development cycle. [2]
3. Android Phone:
In this project we will control the
robot using Android Phone by using an
application which we will get from Android
Play store. By installing the application we
can move the robot in four direction i.e., is
front, reverse, left and right directions. [1]
4. Bluetooth Receiver:
Bluetooth Receiver consists of
Bluetooth serial interface module and
Bluetooth adapter. Bluetooth serial module is
used for converting serial port to Bluetooth.
This module has two modes: master and
slaver device. The device named after even
number
is defined to be master or slaver when out of
factory and can’t change to the other mode.
But for the device named after odd number,
users can set the work mode (master or
slaver) of the device by ATcommands. [1]
5. Arduino UNO:
The Arduino Uno is a 8 bit
microcontroller board based on the
ATmega328.It has 14 digital pins and 6
analog pins and other power pins such as,
GND, VCC, It has 14 digital input/output
pins (of which 6can be used as PWM
outputs), 6 analog inputs, a 16 MHz ceramic
resonator, a USB connection, a power jack,
an ICSP header, and a reset button. It has
SRAM 2kb and flash memory 32kb.
EEPROM with 1KB. Arduino is open source
hardware board with many open source
libraries to interface it on board
microcontroller with many other external
components like LED, motors, IR sensors
and many other things one want to interface
with Arduino board. Arduino is a complete
board which include all things to connect
with external peripheral and to program
through computer. It contains everything
needed to support the microcontroller. We
either need to connect it to a computer using
a USB cable or power it with an AC-to-DC
(7-12v) adapter. The Arduino circuit acts as
an interface between the software part and the
hardware part of the project. [1]
6. L298:
The L298 is an integrated monolithic
circuit in a 15lead Multiwatt and PowerSO20
packages. It is a high voltage, high current
dual full-bridge driver designed to accept
standard TTL logic levels and drive inductive
loads such as relays, solenoids, DC and
stepping motors. Two enable inputs are
provided to enable or disable the device
independently of the input signals. The
emitters of the lower transistors of each
bridge are connected together and the
corresponding external terminal can be used
for the connection of an external sensing
resistor. An additional supply input is
provided so that the logic works at a lower
voltage. [1]
7. DC Motor:
Almost every mechanical movement
that we see around us is accomplished by an
electric motor. Electric machines are means
of converting energy. Motors take electrical
energy and produce mechanical energy.
Electric motor is used to power hundreds of
devices we use in everyday life. An example
of small motor applications includes motors
used in automobiles, robot, hand power tools
and food blenders. Micro-machines are
electric machines with parts the size of red
blood cells and find many applications in
medicine.
B. Autonomous
For Autonomous Robot Biped specs:
1. Atmega Microcontroller Board servo motors are used to bear the weight of
(Arduino): the robot. The servos on central plate of
chassis help the robot lift up the legs. [2]
Arduino is an open-source computer
hardware and software company, project and
user community that designs and
manufactures microcontroller-based kits for
building digital devices and interactive
objects that can sense and control objects in
the physical world. Arduino had used the
Atmel Atmega AVR series of chips,
specifically the ATmega8, ATmega168,
ATmega328, ATmega1280, and
ATmega2560. [1]

Figure 3 Servo Motor

3. Ultrasonic Module:

Ultrasonic Ranging Sensor is a non-contact

distance measurement module with stable
performance and high ranging accuracy. with
the inexpensive price, The measurment range
Figure 2 ATMEGA MICROCONTROLLER if it can be upto 5M, which would be helpful
BOARD
for your project such as robotic Obstacle
Avoidance and so on.

2. Servo Motors Module: 4. Sound Sensor Module:

A Servo Module (or Servo Motor) High Sensitivity Sound Microphone
rotates its shaft to a set angular position, Sensor Detection Module is a voice sensor
between 0 and 120 degrees. Once its position module that uses a high sensitivity
has been set in a ROBOTC program, the microphone that produces an analog output,
Servo Module will continually draw power coupled with an op-amp circuit to produce a
to maintain that position until another is
specified. Servo Modules can be plugged
into any of the MOTORS ports in ROBOTC.
Servo Motors are employed for the
movement of the robot. Two servos at both
the feet help the robot turn. 3.7 Kg torque
digital output that sensitivity level can be set
using the trimpot available in the module.
Figure 4 Sound Sensor
III. RESULT
A robot is a reusable manipulator to
move certain tools, materials, or equipment
with various motion programs for various
tasks and also control and synchronize the
equipment with its work. There are several
kinds of robots in the world but at this time
we will discuss the shortcomings,
advantages, speed, and efficiency of
autonomous robots and robot controllers.
The autonomous robot is a robot that
in operation is only programmed and given
the logic of an algorithm just once, then the
robot will perform its duties independently.
Usually, most autonomous robots are used in
industry industries such as factories, and
other industrial industries. The robot
controller is a robot which in its operation is
controlled by a human operator because the
task is too complicated to be compiled into a
logic algorithm.
Below are some advantages and
disadvantages of autonomous robots and
robot controllers.
Autonomous Robot:
Advantages, for the advantages of the
autonomous robot, is that this robot does not
need the interaction of humans as a driver or
controller of the robot, because the
autonomous robot is embedded program and
given the logic of the algorithm, then the
robot will work in the loop with the ordered.
This robot will run independently according
to the algorithm program embedded in the
robot, so it will ease some of the tasks of
humans. Autonomous robots also play an
important role in major industry industries
such as automotive industry, and other
industries. For example, we will expose some
important autonomous robot roles in the
automotive industry, which is utilized in
automobile welding systems that are already
using robots and even 75% of them use robots
instead of human labor. In terms of
autonomous robot accuracy, the accuracy is
fairly accurate but also depends on the
algorithm and sensitivity of the sensor on the
robot. For the speed, facet robot is arguably
the most superior because this robot speed is
set on the programming algorithm on the
robot.
The disadvantages, for the lack of
autonomous robot, is that the robot is too
distracted on the embedded algorithm system
so the robot will not receive any stimulus
from outside the algorithm. Another
deficiency is that this robot is sometimes
often out of command of the algorithm is
implanted because the robot system is using
looping system. Imagine if one day we rely
on the intelligent robots who have a 'brain'
and ability to become autonomous. Then, the
inevitable war, the killer robots could have
taken over power over man. It could be a time
if we rely more on the performance of
autonomous robots than humans kana will
happen a fairly large impact, that will be
many people affected by a large-scale
dismissal of magnitude. In terms of accuracy
of this robot, the same level of accuracy with
an autonomous robot only for accuracy
depends on someone who controls or runs the
robot. And the speed facets are just like
autonomous robots and also depend on
someone who controls the robot.
Robot controller:
The advantage, for the advantages of
the robot controller, is that this robot can be
moved at will from someone who controls the
robot either directly or indirectly. Another
advantage is the use of memory is not too
large because the algorithm entered is fairly
small or small. In a microprocessor such as
ATmega328 whose storage size is only 32
kb, so it can not store many algorithm
programs.
Disadvantages, while the
shortcomings of the robot controller are that
this robot will only work after having
instructions from someone who is in control
of the robot. Another deficiency is that the
robot is too fixated on the interaction
provided by the controller or the person
controlling the robot, so if there is a stimulus
or field in the robot's surroundings then the
robot will not run the interaction
independently.
In terms of efficiency between
autonomous robot and robot controller
according to the survey we have done proves
that autonomous robots are more efficient
because in autonomous robots do not need to
use power plant from humans because the
nature of this robot is independent, and also
autonomous robot minimal of human error
because humans no contact with the robot.
III. CONCLUSION
Based on the review that has been
seen from several papers, it can be taken
some conclusions as follows:
1. Autonomous robots are more efficient
than robot controllers because these
robots do not require additional power
from humans because the nature of this
robot is independent, and also robot
autonomous minimal of human error
because humans have no contact with the
robot.
2. Autonomous robots are also less costly
because there is no need to incur
additional costs to make the robot
controller.
3. Robot controller memory usage that is
not too large because the algorithm
entered is fairly small or small.
4. Autonomous robot richness that often
occurs in looping systems that impact on
the constant motion of the movement of
the robot.
References

[1] S. Roy, T. R. Wangchuk and R. Bhatt,

"Arduino Based Bluetooth Controlled
Robot," International Journal of
Engineering Trends and Technology
(IJETT), vol. 32, no. 5, pp. 216-218, 2016.

[2] P. Chandran, M. Jaswal, D. T. K. Kumar

and M. R. Pandurangan, "Autonomous
Biped Robot Using Arduino," International
Journal of Science, Engineering and
Technology Research (IJSETR), vol. 4, no.
4, pp. 1031-1034, 2015.