Year 2019, Volume 8, Issue 1, Pages 143 - 157 2019-03-12

İki Bacaklı Bir Robotun Yapay Sinir Ağı Desteği İle Denge Sağlaması
Balance With a Two-Legged Robot With Artificial Neural Network Support

Ahmet Burak TATAR [1] , Beyda TAŞAR [2] , Alper Kadir TANYILDIZI [3]

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Robotlar genellikle doğadaki canlılardan esinlenerek tasarlanmaktadır. Özellikle eklem bacaklı robot çalışmalarında 4 bacaklı robotlara çok geniş yer verilmektedir. Doğada 4 bacaklı hayvanların davranışlarından esinlenerek robotlara çeşitli özellikler kazandırılmaktadır. Dört bacaklı olan birçok hayvan doğar doğmaz ayağa kalkabilme ve hatta yürüyebilme becerisine sahiptir. Bu canlıların fizyolojik gelişimleri anne karnında tamamlanmakta ve doğduktan hemen sonra kemik ve bacak kas grupları kullanılabilir duruma gelmektedir. Canlının doğduktan sonra ayağa kalkarak dengede kalabilmesinin bacak kaslarına beyinden iletilen nörolojik sinyallerle gerçekleştirildiği açıkça bilinen bir gerçektir. Bu bilgiler ışığında bu çalışmada 4 bacaklı bir robotu andıran 2 bacaklı bir robotun düzlemsel kinematiği ve dinamiği elde edilerek robotun ayakta dengede kalabilme kabiliyetinin bir yapay sinir ağı desteği ile robota kazandırılması ele alınmıştır. Dinamik hareket için robotun düzlemsel modeli ele alınmış ve 7 eksenli hareket denklemleri elde edilmiştir. Robotun yerden kalkarak ayakta dengede kalabilmesi amaçlanmış ve bunun bir yapay sinir ağ yapısının kullanımı ile öğrenme sonucunda gerçekleştirilebilmesi hedeflenmiştir. Robotun eklemlerine uygulanması gereken kontrol sinyalleri için klasik PID kontrol yöntemi kullanılmıştır. Sistem cevapları grafiksel olarak elde edilmiş ve sonuçlar değerlendirilmiştir.

Robots are usually designed by inspiration from living creatures in the nature. It is inspired by the behaviors of 4 legged animals in the nature and various characteristics are given to robots. Many animals with four legs have the ability to walk and even walk new-born. The physiological developments of these creatures are completed in the mother’s womb and soon after birth, bone and leg muscle groups are available. It is a well-known fact that living beings can stay in balance by standing up to their legs after birth and carry out their neurological signals to the muscles of the legs. In this study, we have studied the robot kinematics and dynamics of 2-legged robot which resembles a 4-legged robot in the light of this study, and the robotic ability of the robot to stand on the ground with an artificial neural network(ANN) support. For the dynamic motion, the planar model of the robot is considered and 7-axis motion equations are obtained. The aim of the robot is to be able to stand up from the ground and stay in balance and it is aimed to be realized with the use of an artificial neural network structure as learning result. Conventional PID control method has been used for control signals that should be applied to robot joints. System responses were obtained graphically and the results were evaluated.

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Primary Language en
Subjects Science
Journal Section Araştırma Makalesi
Authors

Author: Ahmet Burak TATAR (Primary Author)
Country: Turkey


Author: Beyda TAŞAR
Country: Turkey


Author: Alper Kadir TANYILDIZI
Country: Turkey


Bibtex @research article { bitlisfen444560, journal = {Bitlis Eren Üniversitesi Fen Bilimleri Dergisi}, issn = {2147-3129}, eissn = {2147-3188}, address = {Bitlis Eren University}, year = {2019}, volume = {8}, pages = {143 - 157}, doi = {10.17798/bitlisfen.444560}, title = {Balance With a Two-Legged Robot With Artificial Neural Network Support}, key = {cite}, author = {TATAR, Ahmet Burak and TAŞAR, Beyda and TANYILDIZI, Alper Kadir} }
APA TATAR, A , TAŞAR, B , TANYILDIZI, A . (2019). Balance With a Two-Legged Robot With Artificial Neural Network Support. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi, 8 (1), 143-157. DOI: 10.17798/bitlisfen.444560
MLA TATAR, A , TAŞAR, B , TANYILDIZI, A . "Balance With a Two-Legged Robot With Artificial Neural Network Support". Bitlis Eren Üniversitesi Fen Bilimleri Dergisi 8 (2019): 143-157 <http://dergipark.org.tr/bitlisfen/issue/43819/444560>
Chicago TATAR, A , TAŞAR, B , TANYILDIZI, A . "Balance With a Two-Legged Robot With Artificial Neural Network Support". Bitlis Eren Üniversitesi Fen Bilimleri Dergisi 8 (2019): 143-157
RIS TY - JOUR T1 - Balance With a Two-Legged Robot With Artificial Neural Network Support AU - Ahmet Burak TATAR , Beyda TAŞAR , Alper Kadir TANYILDIZI Y1 - 2019 PY - 2019 N1 - doi: 10.17798/bitlisfen.444560 DO - 10.17798/bitlisfen.444560 T2 - Bitlis Eren Üniversitesi Fen Bilimleri Dergisi JF - Journal JO - JOR SP - 143 EP - 157 VL - 8 IS - 1 SN - 2147-3129-2147-3188 M3 - doi: 10.17798/bitlisfen.444560 UR - https://doi.org/10.17798/bitlisfen.444560 Y2 - 2018 ER -
EndNote %0 Bitlis Eren Üniversitesi Fen Bilimleri Dergisi Balance With a Two-Legged Robot With Artificial Neural Network Support %A Ahmet Burak TATAR , Beyda TAŞAR , Alper Kadir TANYILDIZI %T Balance With a Two-Legged Robot With Artificial Neural Network Support %D 2019 %J Bitlis Eren Üniversitesi Fen Bilimleri Dergisi %P 2147-3129-2147-3188 %V 8 %N 1 %R doi: 10.17798/bitlisfen.444560 %U 10.17798/bitlisfen.444560
ISNAD TATAR, Ahmet Burak , TAŞAR, Beyda , TANYILDIZI, Alper Kadir . "Balance With a Two-Legged Robot With Artificial Neural Network Support". Bitlis Eren Üniversitesi Fen Bilimleri Dergisi 8 / 1 (March 2019): 143-157. https://doi.org/10.17798/bitlisfen.444560