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

Muhammed Arif Şen; Mete Kalyoncu

doi:10.36306/konjes.803239

Derleme

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

Yıl 2021, Cilt: 9 Sayı: 1, 250 - 279, 02.03.2021

Muhammed Arif Şen Mete Kalyoncu

https://doi.org/10.36306/konjes.803239

Öz

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.

Anahtar Kelimeler

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

Kaynakça

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

Yıl 2021, Cilt: 9 Sayı: 1, 250 - 279, 02.03.2021

Muhammed Arif Şen Mete Kalyoncu

https://doi.org/10.36306/konjes.803239

Öz

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.

Anahtar Kelimeler

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

Kaynakça

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Toplam 121 adet kaynakça vardır.

Ayrıntılar

Birincil Dil	Türkçe
Konular	Mühendislik
Bölüm	Derleme
Yazarlar	Muhammed Arif Şen 0000-0002-6081-2102 Mete Kalyoncu 0000-0002-2214-7631
Yayımlanma Tarihi	2 Mart 2021
Gönderilme Tarihi	1 Ekim 2020
Kabul Tarihi	20 Kasım 2020
Yayımlandığı Sayı	Yıl 2021 Cilt: 9 Sayı: 1

Kaynak Göster

IEEE	M. A. Şen ve M. Kalyoncu, “DÖRT AYAKLI ROBOTLARIN MODELLENMESİ, KONTROLÜ VE ENGEBELİ YÜZEYLERDE YÜRÜYÜŞÜ ÜZERİNE BİR LİTERATÜR ARAŞTIRMASI”, KONJES, c. 9, sy. 1, ss. 250–279, 2021, doi: 10.36306/konjes.803239.

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