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Bacaklı Robotların Yürüme Stratejileri Üzerine Bir Literatür Taraması

Yıl 2020, Cilt: 23 Sayı: 4, 961 - 986, 01.12.2020
https://doi.org/10.2339/politeknik.573673

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.







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A Literature Review on Walking Strategies of Legged Robots

Yıl 2020, Cilt: 23 Sayı: 4, 961 - 986, 01.12.2020
https://doi.org/10.2339/politeknik.573673

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.




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  • M. Buehler, R. Battaglia, A. Cocosco, G. Hawker, J. Sarkis, K. Yamazaki, SCOUT: a simple quadruped that walks, climbs, and runs, in: Proceedings of the IEEE International Conference on Robotics and Automation, IEEE, 1998: pp. 1707–1712.
  • M. Buehler, A. Cocosco, K. Yamazaki, R. Battaglia, Stable open loop walking in quadruped robots with stick legs, in: Proceedings of the IEEE International Conference on Robotics and Automation, IEEE, 1999: pp. 2348–2353.
  • R.F. Battaglia, Design of the SCOUT II Quadruped with Preliminary Stair-Climbing, McGill University, 1999.
  • I. Poulakakis, J.A. Smith, M. Buehler, Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot, The International Journal of Robotics Research, 24 (4), 239–256, 2005.
  • H. Kimura, Y. Fukuoka, Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain by Using Neural System Model, IFAC Proceedings Volumes, 33 (26), 585–590, 2000.
  • H. Kimura, Y. Fukuoka, K. Konaga, Adaptive dynamic walking of a quadruped robot using a neural system model, Advanced Robotics, 15 (8), 859–878, 2001.
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  • C. Semini, N.G. Tsagarakis, B. Vanderborght, Y. Yang, D.G. Caldwell, HyQ – Hydraulically actuated quadruped robot: Hopping leg prototype, in: 2nd IEEE International Conference on Biomedical Robotics and Biomechatronics, IEEE, 2008: pp. 593–599.
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  • C. Semini, V. Barasuol, T. Boaventura, M. Frigerio, J. Buchli, Is Active Impedance the Key to a Breakthrough for Legged Robots?, in: Robotics Research, Springer International Publishing, 2016: pp. 3–19.
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  • I. Havoutis, J. Ortiz, S. Bazeille, V. Barasuol, C. Semini, D.G. Caldwell, Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ), in: Proceedings of the International Conference on Intelligent Robots and Systems, 2013: pp. 6052–6057.
  • B. Ugurlu, I. Havoutis, C. Semini, D.G. Caldwell, Dynamic trot-walking with the hydraulic quadruped robot – HyQ: Analytical trajectory generation and active compliance control, in: International Conference on Intelligent Robots and Systems, 2013: pp. 6044–6051.
  • C. Semini, V. Barasuol, T. Boaventura, M. Frigerio, M. Focchi, D.G. Caldwell, J. Buchli, Towards versatile legged robots through active impedance control, The International Journal of Robotics Research, 34 (7), 1003–1020, 2015.
  • A.W. Winkler, C. Mastalli, I. Havoutis, M. Focchi, D.G. Caldwell, C. Semini, Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain, in: Proceedings of the International Conference on Robotics and Automation, 2015: pp. 5148–5154.
  • T. Boaventura, J. Buchli, C. Semini, D.G. Caldwell, Model-Based Hydraulic Impedance Control for Dynamic Robots, IEEE Transactions on Robotics, 31 (6), 1324–1336, 2015.
  • V. Barasuol, J. Buchli, C. Semini, M. Frigerio, E.R. De Pieri, D.G. Caldwell, A reactive controller framework for quadrupedal locomotion on challenging terrain, in: Proceedings of the International Conference on Robotics and Automation, 2013: pp. 2554–2561.
  • I. Havoutis, C. Semini, J. Buchli, D.G. Caldwell, Quadrupedal trotting with active compliance, in: Proceedings of the International Conference on Mechatronics, 2013: pp. 610–616.
  • S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, D.G. Caldwell, C. Semini, Quadruped robot trotting over irregular terrain assisted by stereo-vision, Intelligent Service Robotics, 7 (2), 67–77, 2014.
  • A. Winkler, I. Havoutis, S. Bazeille, J. Ortiz, M. Focchi, R. Dillmann, D. Caldwell, C. Semini, Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots, in: Proceedings of the International Conference on Robotics and Automation (ICRA), IEEE, 2014: pp. 6476–6482.
  • C. Semini, V. Barasuol, J. Goldsmith, M. Frigerio, M. Focchi, Y. Gao, D.G. Caldwell, Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max, IEEE/ASME Transactions on Mechatronics, 22 (2), 635–646, 2017.
  • C.D. Bellicoso, M. Bjelonic, L. Wellhausen, K. Holtmann, F. Günther, M. Tranzatto, P. Fankhauser, M. Hutter, Advances in real-world applications for legged robots, Journal of Field Robotics, 35 (8), 1311–1326, 2018.
  • J. Fisler, Maximum high jump with a robotic leg, ETH Zurich, 2008.
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  • M. Hutter, C.D. Remy, M.A. Hoepflinger, R. Siegwart, ScarlETH: Design and control of a planar running robot, in: Proceedings of the International Conference on Intelligent Robots and Systems, IEEE, 2011: pp. 562–567.
  • F.A.W. Belo, A. Birk, C. Brunskill, F. Kirchner, V. Lappas, C.D. Remy, S. Roccella, C. Rossi, A. Tikanmäki, G. Visentin, The ESA Lunar Robotics Challenge: Simulating operations at the lunar south pole, Journal of Field Robotics, 29 (4), 601–626, 2012.
  • M.A. Hoepflinger, C.D. Remy, M. Hutter, R. Siegwart, The quadruped ALoF and a step towards real world haptic terrain classification, in: Proceedings of the 12th Mechatronics Forum Biennial International Conference, Swiss Federal Institute of Technology ETH, Zurich Switzerland, 2010: pp. 1–8.
  • C.D. Remy, O. Baur, M. Latta, A. Lauber, M. Hutter, M.A. Hoepflinger, C. Pradalier, R. Siegwart, Walking and crawling with ALoF: a robot for autonomous locomotion on four legs, Industrial Robot: An International Journal, 38 (3), 264–268, 2011.
  • M. Hutter, StarlETH & Co.--Design and Control of Legged Robots with Compliant Actuation, ETH Zurich, 2013.
  • 172. C.D. Remy, M. Hutter, M. Hoepflinger, M. Bloesch, C. Gehring, R. Siegwart, Quadrupedal Robots with Stiff and Compliant Actuation, At - Automatisierungstechnik Methoden Und Anwendungen Der Steuerungs-, Regelungs- Und Informationstechnik, 60 (11), 682–691, 2012.
  • M. Hutter, C.D. Remy, M.A. Hoepflinger, R. Siegwart, Efficient and versatile locomotion with highly compliant legs, IEEE/ASME Transactions on Mechatronics, 18 (2), 449–458, 2013.
  • C. Gehring, S. Coros, M. Hutter, M. Bloesch, P. Fankhauser, M.A. Hoepflinger, R. Siegwart, Towards automatic discovery of agile gaits for quadrupedal robots, in: Proceedings of the International Conference on Robotics and Automation, 2014: pp. 4243–4248.
  • M. Hutter, C. Gehring, M.A. Hopflinger, M. Blosch, R. Siegwart, Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped, IEEE Transactions on Robotics, 30 (6), 1427–1440, 2014.
  • M. Hutter, H. Sommer, C. Gehring, M. Hoepflinger, M. Bloesch, R. Siegwart, Quadrupedal locomotion using hierarchical operational space control, The International Journal of Robotics Research, 33 (8), 1047–1062, 2014.
  • C. Gehring, C.D. Bellicoso, S. Coros, M. Bloesch, P. Fankhauser, M. Hutter, R. Siegwart, Dynamic trotting on slopes for quadrupedal robots, in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015: pp. 5129–5135.
  • C. Gehring, S. Coros, M. Hutter, C. Dario Bellicoso, H. Heijnen, R. Diethelm, M. Bloesch, P. Fankhauser, J. Hwangbo, M. Hoepflinger, R. Siegwart, Practice Makes Perfect: An Optimization-Based Approach to Controlling Agile Motions for a Quadruped Robot, IEEE Robotics & Automation Magazine, 23 (1), 34–43, 2016.
  • M. Hutter, C. Gehring, D. Jud, A. Lauber, C.D. Bellicoso, V. Tsounis, J. Hwangbo, K. Bodie, P. Fankhauser, M. Bloesch, R. Diethelm, S. Bachmann, A. Melzer, M. Hoepflinger, ANYmal - a highly mobile and dynamic quadrupedal robot, in: Proceedings of the International Conference on Intelligent Robots and Systems, IEEE, 2016: pp. 38–44.
  • M. Hutter, C. Gehring, A. Lauber, F. Gunther, C.D. Bellicoso, V. Tsounis, P. Fankhauser, R. Diethelm, S. Bachmann, M. Bloesch, H. Kolvenbach, M. Bjelonic, L. Isler, K. Meyer, ANYmal - toward legged robots for harsh environments, Advanced Robotics, 31 (17), 918–931, 2017.
  • C.D. Bellicoso, F. Jenelten, C. Gehring, M. Hutter, Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots, IEEE Robotics and Automation Letters, 3 (3), 2261–2268, 2018.
  • P. Fankhauser, Perceptive Locomotion for Legged Robots in Rough Terrain, ETH Zurich, 2018.
  • A.W. Winkler, Optimization-based motion planning for legged robots, ETH Zurich, 2018.
  • P. Fankhauser, M. Hutter, ANYmal: A Unique Quadruped Robot Conquering Harsh Environments, Research Features, 126 54–57, 2018.
  • V. Bakırcıoğlu, M. Arif Şen, M. Kalyoncu, Optimization of PID controller based on The Bees Algorithm for one leg of a quadruped robot, MATEC Web of Conferences, 42 03004, 2016.
  • M.A. Şen, M. Kalyoncu, Optimal Tuning of PID Controller Using Grey Wolf Optimizer Algorithm for Quadruped Robot, Balkan Journal of Electrical and Computer Engineering, 6 (1), 29–35, 2018.
  • M.A. Şen, V. Bakırcıoğlu, M. Kalyoncu, Automatic LQR Controller Tuning Based on Grey Wolf Optimizer Algorithm for a Quadruped Robot, in: 2nd International Vocational Science Symposium, Antalya, Turkey, 2018.
  • V. Bakırcıoğlu, M.A. Şen, M. Kalyoncu, Motion Analysis of the Robotic Leg Mass Centre during Reference Trajectory Tracking, in: 2nd International Vocational Science Symposium, Antalya, Turkey, 2018.
  • V. Bakırcıoğlu, A. Şen, M., M. Kalyoncu, Obtaining Dynamic Characteristics of of Parker D1FP Proportional Valve, in: İ. Sarıtaş (Ed.), International Conference on Engineering Technologies, Konya, Turkey, 2017: pp. 662–668.
  • V. Bakırcıoğlu, M.A. Şen, M. Kalyoncu, Adaptive Neural-Network Based Fuzzy Logic (ANFIS) Based Trajectory Controller Design for One Leg of a Quadruped Robot, in: Proceedings of the 5th International Conference on Mechatronics and Control Engineering - ICMCE ’16, ACM Press, 2016: pp. 82–85.
  • M.A. Sen, V. Bakircioglu, M. Kalyoncu, Inverse Kinematic Analysis of a Quadruped Robot, International Journal of Scientific & Technology Research, 6 (09), 285–289, 2017.
Toplam 191 adet kaynakça vardır.

Ayrıntılar

Birincil Dil Türkçe
Konular Mühendislik
Bölüm Derleme Makalesi
Yazarlar

Veli Bakırcıoğlu 0000-0002-1170-5327

Mete Kalyoncu 0000-0002-2214-7631

Yayımlanma Tarihi 1 Aralık 2020
Gönderilme Tarihi 4 Haziran 2019
Yayımlandığı Sayı Yıl 2020 Cilt: 23 Sayı: 4

Kaynak Göster

APA Bakırcıoğlu, V., & Kalyoncu, M. (2020). Bacaklı Robotların Yürüme Stratejileri Üzerine Bir Literatür Taraması. Politeknik Dergisi, 23(4), 961-986. https://doi.org/10.2339/politeknik.573673
AMA Bakırcıoğlu V, Kalyoncu M. Bacaklı Robotların Yürüme Stratejileri Üzerine Bir Literatür Taraması. Politeknik Dergisi. Aralık 2020;23(4):961-986. doi:10.2339/politeknik.573673
Chicago Bakırcıoğlu, Veli, ve Mete Kalyoncu. “Bacaklı Robotların Yürüme Stratejileri Üzerine Bir Literatür Taraması”. Politeknik Dergisi 23, sy. 4 (Aralık 2020): 961-86. https://doi.org/10.2339/politeknik.573673.
EndNote Bakırcıoğlu V, Kalyoncu M (01 Aralık 2020) Bacaklı Robotların Yürüme Stratejileri Üzerine Bir Literatür Taraması. Politeknik Dergisi 23 4 961–986.
IEEE V. Bakırcıoğlu ve M. Kalyoncu, “Bacaklı Robotların Yürüme Stratejileri Üzerine Bir Literatür Taraması”, Politeknik Dergisi, c. 23, sy. 4, ss. 961–986, 2020, doi: 10.2339/politeknik.573673.
ISNAD Bakırcıoğlu, Veli - Kalyoncu, Mete. “Bacaklı Robotların Yürüme Stratejileri Üzerine Bir Literatür Taraması”. Politeknik Dergisi 23/4 (Aralık 2020), 961-986. https://doi.org/10.2339/politeknik.573673.
JAMA Bakırcıoğlu V, Kalyoncu M. Bacaklı Robotların Yürüme Stratejileri Üzerine Bir Literatür Taraması. Politeknik Dergisi. 2020;23:961–986.
MLA Bakırcıoğlu, Veli ve Mete Kalyoncu. “Bacaklı Robotların Yürüme Stratejileri Üzerine Bir Literatür Taraması”. Politeknik Dergisi, c. 23, sy. 4, 2020, ss. 961-86, doi:10.2339/politeknik.573673.
Vancouver Bakırcıoğlu V, Kalyoncu M. Bacaklı Robotların Yürüme Stratejileri Üzerine Bir Literatür Taraması. Politeknik Dergisi. 2020;23(4):961-86.
 
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