DÖRT AYAKLI ROBOTLARIN MODELLENMESİ, KONTROLÜ VE ENGEBELİ YÜZEYLERDE YÜRÜYÜŞÜ ÜZERİNE BİR LİTERATÜR ARAŞTIRMASI

Abstract

Robotik alanındaki gelişmelerin günümüzdeki en belirgin örneklerinden birisi olan dört ayaklı robotlar; doğadaki hayvanlardan esinlenerek geliştirilen ve üstün hareket kabiliyetleri sayesinde tekerlekli sistemlerin sınırlı kaldığı dinamik hareketleri ustalıkla gerçekleştirebilen, eklemli bacak yapısına sahip, yürüyen mobil sistemlerdir. Bu çalışmada, literatürde öne çıkan mevcut dört ayaklı robotlar ve bu robotların modellemesi, eyleyici türleri, düz ve engebeli zeminlerde yürüyüşü ve kontrolü üzerine yapılan araştırmalar sunulmuştur. Karmaşık bir sistem olması nedeniyle belirli konuların incelendiği sınırlı derlemelerin aksine, bu çalışmada geniş bir literatür derlenmiştir. Girişte, dört ayaklı robotların üstün özelliklerine ve bu alandaki araştırmaların temel motivasyon kaynaklarına değinilmiştir. Öncelikle, son yılarda geliştirilen dört ayaklı robotlar ve teknik özellikleri kronolojik sırayla belirtilmiştir. Devamında, bacaklı sistemler için önerilen modelleme ve kontrol yöntemlerine ve yaygın kullanılan eyleyicilere ait örnekler sunulmuştur. Sonrasında, dört ayaklı robotların diğer mobil robotlara kıyasla önemli bir avantajı olan, engebeli yüzeylerde yürüyüş ve denge-hareket kontrolü ile ilgili temel yaklaşımların yanı sıra güncel teorik ve uygulamalı çalışmalar sunulmuştur. Sonuç kısmında ise, dört ayaklı robotik alanında devam eden çalışmalara ve yakın gelecekte gerçekleşmesi muhtemel gelişmelere değinilmiştir.

Keywords

• Bacaklı Robotik
• Dört Ayaklı Robotlar
• Yürüyüş Kontrolü
• Engebeli Yüzey

A Literature Review on Modeling, Control and Walking on Rough Surfaces of Quadruped Robots

Abstract

Quadruped robots, one of the most considerable samples of the developments in robotics nowadays; are mobile systems that are inspired by animals in nature and can perform dynamic movements in which wheeled systems are limited thanks to their superior abilities, and have a jointed leg structure. In this study, the existing prominent quadruped robots in the literature and the modeling of these robots, types of actuators, gait, and control on flat and rough surfaces are presented. Due to its complex structure, a wide literature is reviewed in this study, unlike the limited reviews in which investigate specific subjects. In the introduction, the advantage of quadruped robots and the main motivation sources of researches in this field are mentioned. First of all, quadruped robots developed in recent years, and their technical features are specified in chronological order. Next, proposed modeling and control methods for legged systems and examples of commonly used actuators are presented. Afterward, as well as basic approaches, theoretical and experimentally studies are presented, to walking on rough surfaces and balance-motion control, which is an important advantage compared to other mobile robots. In the conclusion section, the continuing studies and probable forthcoming improvements in the field of quadruped robotics are mentioned.

Keywords

• Legged Robotics
• Quadruped Robots
• Gait Control
• Rough/Uneven Surface

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