Maintaining Stability During Rest for Jumping Robot with Point Contact

Halit Hülako

Makale detayları

Maintaining Stability During Rest for Jumping Robot with Point Contact

Yazarlar:

Halit Hülako

Yayıncı:

Fırat University

Ana Başlıklar:

Takviyeli Öğrenme

Dergi:

Fırat Üniversitesi Mühendislik Bilimleri Dergisi Vol.36 Issue 2, pp.593-607

Belge Tipi:

Makale

Yayın Tarihi:

9/2024

Belge Dili:

Türkçe

Document ID (Org No.):

2001317068

pISSN:

1308-9072

Anahtar kelimeler:

Özet:

 This study investigates a planar modelled dynamic jumping robot with a point ground contact surface. The aim is to maintain the robots balance after jumping without tipping over. To achieve this, a Reaction Wheel is employed for stabilization. The landing moment after a jump is simulated, and an Artificial Intelligence algorithm similiar to Reinforcement Learning RL, which uses Genetic algorithm, is used to maintain a stable posture by maintaining balance at the moment the robot touches the ground. With this method, the jumping robot was trained for the stabilisation mission in real-time and then it was observed that the robot successfully learnt the stabilisation process. The jumping robots dynamic modelling was carried out using Matlab Simscape MultiBody MSM. The graphical results of the numerical simulation show that the dynamic robot model successfully maintains its balance for 5 seconds without tipping over after jumping and exhibits the ability to make the desired corrections with the contribution of Artificial Intelligence.

 This study investigates a planar modelled dynamic jumping robot with a point ground contact surface. The aim is to maintain the robots balance after jumping without tipping over. To achieve this, a Reaction Wheel is employed for stabilization. The landing moment after a jump is simulated, and an Artificial Intelligence algorithm similiar to Reinforcement Learning RL, which uses Genetic algorithm, is used to maintain a stable posture by maintaining balance at the moment the robot touches the ground. With this method, the jumping robot was trained for the stabilisation mission in real-time and then it was observed that the robot successfully learnt the stabilisation process. The jumping robots dynamic modelling was carried out using Matlab Simscape MultiBody MSM. The graphical results of the numerical simulation show that the dynamic robot model successfully maintains its balance for 5 seconds without tipping over after jumping and exhibits the ability to make the desired corrections with the contribution of Artificial Intelligence.

 This study investigates a planar modelled dynamic jumping robot with a point ground contact surface. The aim is to maintain the robots balance after jumping without tipping over. To achieve this, a Reaction Wheel is employed for stabilization. The landing moment after a jump is simulated, and an Artificial Intelligence algorithm similiar to Reinforcement Learning RL, which uses Genetic algorithm, is used to maintain a stable posture by maintaining balance at the moment the robot touches the ground. With this method, the jumping robot was trained for the stabilisation mission in real-time and then it was observed that the robot successfully learnt the stabilisation process. The jumping robots dynamic modelling was carried out using Matlab Simscape MultiBody MSM. The graphical results of the numerical simulation show that the dynamic robot model successfully maintains its balance for 5 seconds without tipping over after jumping and exhibits the ability to make the desired corrections with the contribution of Artificial Intelligence.

 Bu çalışmada, yer ile noktasal bir temas yüzeyine sahip olan zıplayan düzlemsel dinamik bir robotun zıplama sonrasında devrilmeden dengesini koruması incelenmiştir. Robotun dengesini sağlamak için Reaksiyon Tekerleği kullanılmıştır. Zıplama sonrasında yere iniş anı simüle edilmiş ve robotun yere temas ettiği anda dengesini koruyarak istikrarlı bir duruş sergilemesi için Genetik algoritma kullanarak Pekiştirmeli Öğrenme PÖ yapısına benzer bir Yapay Zeka Ajanı oluşturulmuştur. Bu yöntemle zıplayan robot, gerçek zamanlı olarak dengelenme misyonu için eğitilmiş ve ardından robotun dengeleme işlemini başarıyla öğrendiği gözlemlenmiştir. Zıplayan robotun dinamik modellemesi Matlab Simscape MultiBody MSM kullanılarak gerçekleştirilmiştir. Nümerik Simülasyona ait grafiksel sonuçlar, dinamik robot modelinin, zıplamadan sonra devrilmeden dengesini 5 saniye boyunca başarıyla sürdürdüğünü ve istenen düzeltmeleri yapabilme yeteneğini Yapay Zeka nın katkısıyla sergilediğini göstermektedir.

Makale detayları

Maintaining Stability During Rest for Jumping Robot with Point Contact

Yazarlar:

Halit Hülako

Yayıncı:

Fırat University

Ana Başlıklar:

Takviyeli Öğrenme

Dergi:

Fırat Üniversitesi Mühendislik Bilimleri Dergisi Vol.36 Issue 2, pp.593-607

Belge Tipi:

Makale

Yayın Tarihi:

9/2024

Belge Dili:

Türkçe

Document ID (Org No.):

2001317068

pISSN:

1308-9072

Jumping robot

E. reinforcement learning

reaction wheel.Zıplayan robot

E. pekiştirmeli öğrenme

reaksiyon tekeri.

Sayı

Makale detayları

Maintaining Stability During Rest for Jumping Robot with Point Contact

Yazarlar: Halit Hülako

Yayıncı: Fırat University

Ana Başlıklar: Takviyeli Öğrenme

Dergi: Fırat Üniversitesi Mühendislik Bilimleri Dergisi Vol.36 Issue 2, pp.593-607

Belge Tipi: Makale

Yayın Tarihi: 9/2024

Belge Dili: Türkçe

Document ID (Org No.): 2001317068

pISSN: 1308-9072

Jumping robot

E. reinforcement learning

reaction wheel.Zıplayan robot

E. pekiştirmeli öğrenme

reaksiyon tekeri.

Sayı

Yazarlar:

Halit Hülako

Yayıncı:

Fırat University

Ana Başlıklar:

Takviyeli Öğrenme

Dergi:

Fırat Üniversitesi Mühendislik Bilimleri Dergisi Vol.36 Issue 2, pp.593-607

Belge Tipi:

Makale

Yayın Tarihi:

9/2024

Belge Dili:

Türkçe

Document ID (Org No.):

2001317068

pISSN:

1308-9072