Kinematics and Simulation Model of Autonomous Indonesian 'Becak' Robot

Noverina Alfiany, Grafika Jati, Nur Hamid, Rif'at Ahdi Ramadhani, Made Wira Dhanar Santika, Wisnu Jatmiko

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)


Three-wheeled mobile robot called 'Becak' is one of the alternative transportation that generally used in developing countries. This research proposed a new design of the Becak to become autonomous vehicle one. This paper derived the kinematics model as a fundamental aspect of designing a mobile robot. Three-wheeled kinematic robot model that depending on the back wheel as initial robot velocity and the mobile robot turning angle determined by robot shaft angle. The model is obtained by assuming that a rotation merely depends on the robot shaft movement, as the front wheels both are standard fixed wheel. The rear wheel of the mobile robot also takes a standard fixed wheel. An additional assumption in this model is that there is a slip angle that affected the final pose of the mobile robot. The final pose of the mobile robot then calculated and simulated based on two input variables, i - e., rear-wheel velocity and robot shaft angle. The mobile robot trajectory plots are generated based on the proposed kinematics model.

Original languageEnglish
Title of host publication2020 IEEE Region 10 Symposium, TENSYMP 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages4
ISBN (Electronic)9781728173665
Publication statusPublished - 5 Jun 2020
Event2020 IEEE Region 10 Symposium, TENSYMP 2020 - Virtual, Dhaka, Bangladesh
Duration: 5 Jun 20207 Jun 2020

Publication series

Name2020 IEEE Region 10 Symposium, TENSYMP 2020


Conference2020 IEEE Region 10 Symposium, TENSYMP 2020
CityVirtual, Dhaka


  • autonomous mobile robot
  • kinematics model
  • robot shaft angle
  • robot trajectory
  • slip angle
  • three-wheeled robot


Dive into the research topics of 'Kinematics and Simulation Model of Autonomous Indonesian 'Becak' Robot'. Together they form a unique fingerprint.

Cite this