Obtaining the gait pattern joint angles of the bipedal walking robot by physical and mathematical methods Iki ayakli yürüyen robotun yürüme deseni eklem açilarinin fiziksel ve matematiksel yöntemlerle elde edilmesi
Journal of the Faculty of Engineering and Architecture of Gazi University, cilt.38, sa.3, ss.1631-1644, 2023 (SCI-Expanded, Scopus, TRDizin)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 38 Sayı: 3
- Basım Tarihi: 2023
- Doi Numarası: 10.17341/gazimmfd.1071916
- Dergi Adı: Journal of the Faculty of Engineering and Architecture of Gazi University
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Art Source, Compendex, TR DİZİN (ULAKBİM)
- Sayfa Sayıları: ss.1631-1644
- Anahtar Kelimeler: Bipedal robot, Gait cycle, Robot gait analysis, Robot walking, Static walking
- Açık Arşiv Koleksiyonu: AVESİS Açık Erişim Koleksiyonu
- Trakya Üniversitesi Adresli: Evet
Özet
The most important feature of bipedal robots is the high number of joints. Therefore, it is very important that the robot's joints move in coordination during walking. In this study, static walking method was used to obtain the walking pattern of the bipedal robot and the application details were discussed. In addition, the Rancho Los Amigos terminology, zero moment point, and forward and reverse kinematics methods were used to create the static walking pattern of the bipedal robot. The walking of robot was performed by applying the created walking pattern to the bipedal robot. Video footage taken with the camera was analyzed and then compared according to the Rancho Los Amigos terminology. It has been determined that the static walking pattern created in the comparison and the actual walking pattern of the bipedal robot were the same.