Bacaklı Robotların Yürüme Stratejileri Üzerine Bir Literatür Taraması

Öz

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.

Anahtar Kelimeler

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

A Literature Review on Walking Strategies of Legged Robots

Öz

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.

Anahtar Kelimeler

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

Kaynakça

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