Bacaklı Robotların Yürüme Stratejileri Üzerine Bir Literatür Taraması

Year 2020, , 961 - 986, 01.12.2020

Veli Bakırcıoğlu , Mete Kalyoncu

https://doi.org/10.2339/politeknik.573673

Cited By: 4

Abstract

Bu çalışmada, ayaklı hareket üzerine yapılan geçmiş
dönem araştırmalara; özellikle, ayaklı robotlar literatürünün önemli kilometre
taşlarına değinilmiştir. Geçmiş dönem araştırmalardan, öncelikle canlıların
yürüyüşü ve bunu taklit edebilen makineler üzerine yapılan çalışmalardan
bahsedilmiştir. Daha sonra, çalışmanın konusu olan ayaklı robotların tarihçesi
ele alınmıştır. Ayaklı robotlar üzerine yapılan çalışmalarda, yürüyüş
stratejisi olarak iki temel yaklaşım söz konusudur; statik yürüyüş ve dinamik
yürüyüş. Bu sebepten dolayı ayaklı robotlar tarihçesi, Statik Yürüyen Ayaklı
Robotlar ve Dinamik Yürüyen Ayaklı Robotlar olmak üzere iki temel başlık
altında kronolojik sırayla anlatılmıştır. Statik Yürüyen Ayaklı Robotlar
başlığında, engebeli yüzeylerde hareket ve engelleri aşma gibi arazi adaptasyonunun
daha karmaşık problemleriyle başa çıkmak için çok bacaklı sistemlerin kontrol
edilmesine yönelik tekniklerin geliştirilmesi üzerine yapılan araştırmalar;
Dinamik Yürüyen Ayaklı Robotlar başlığında ise, koşma ve zıplama gibi oldukça
gelişmiş hareket kabiliyetlerine sahip ayaklı sistemler geliştirebilmek için
dinamik kontrol kavramlarının ve tekniklerinin ilerletilmesi üzerine yapılan
araştırmalar sunulmuştur.

Keywords

Ayaklı robotlar, Dört bacaklı yürüyüş, Statik yürüyen robotlar, Dinamik yürüyen robotlar

A Literature Review on Walking Strategies of Legged Robots

Abstract

In this study, previous
studies on legged motion; in particular, important milestones of the legged
robots’ literature were referred. From the past period research, primarily,
studies on the walking of the living beings and the machines that can mimic it
were mentioned. Subsequently, the history of legged robots that is the subject
of the study was addressed. In the studies on the legged robots, two basic
approaches as the walking strategy were concerned; static gait and dynamic
gait. Due to this reason, the history of the legged robots was reported in
chronological order under two main topics as Static Walking Legged Robots and
Dynamic Walking Legged Robots. In the Static Walking Legged Robots topic,
researches on the development of techniques for controlling of the multi-legged
systems to cope with more complex problems of the land adaptation such as
locomotion on rough surfaces and overcoming obstacles; as for in the Dynamic
Walking Legged Robots topic, researches on the improvement of dynamic control
concepts and techniques to develop legged systems with highly sophisticated
mobility capabilities such as running and jumping are presented.

Keywords

Legged robots, Quadrupedal locomotion, Static walking robots, Dynamic walking robots

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