MUSCLE-SKELETAL MODEL APPROACH IN HUMANOID ROBOTS

Hikmet İmamoğlu; Süleyman Murat Bağdatlı

Makale detayları

MUSCLE-SKELETAL MODEL APPROACH IN HUMANOID ROBOTS

Yazarlar:

Hikmet İmamoğlu | Süleyman Murat Bağdatlı

Yayıncı:

Manisa Celal Bayar University

Ana Başlıklar:

Mekatronik Sistem Tasarımı | Kontrol Mühendisliği | Mekatronik ve Robotik (Diğer) | Makine Tasarımı ve Makine Elemanları | Makine Teorisi ve Dinamiği

Dergi:

Soma Meslek Yüksekokulu Teknik Bilimler Dergisi Vol.1 Issue 37, pp.15-29

Belge Tipi:

Makale

Yayın Tarihi:

7/2024

Belge Dili:

Türkçe

Document ID (Org No.):

2001324248

pISSN:

1304-6330

Anahtar kelimeler:

Özet:

 The act of being able to move is a result of vitality, and the most advanced type is the act of walking on two legs. The act of walking occurs when certain limbs periodically repeat their own movements. This movement is called a step. The walking movement is formed by the repetition of steps. Human body structural design has been tried to adapt to todays technology with different approaches, but while trying to make a technological difference during these approaches, they neglected some basic facts. In this study, the humanoid walking motion was divided into parts in the form of stepping and divided into 2 as mobility and balance ability and analyzed mathematically. An ideal physical model design that will provide movement has been realized. The mathematical model that emerged as a result of the examination of the walking movement was applied to the sample movements and analyzed with the graphical results obtained.

 The act of being able to move is a result of vitality, and the most advanced type is the act of walking on two legs. The act of walking occurs when certain limbs periodically repeat their own movements. This movement is called a step. The walking movement is formed by the repetition of steps. Human body structural design has been tried to adapt to todays technology with different approaches, but while trying to make a technological difference during these approaches, they neglected some basic facts. In this study, the humanoid walking motion was divided into parts in the form of stepping and divided into 2 as mobility and balance ability and analyzed mathematically. An ideal physical model design that will provide movement has been realized. The mathematical model that emerged as a result of the examination of the walking movement was applied to the sample movements and analyzed with the graphical results obtained.

 The act of being able to move is a result of vitality, and the most advanced type is the act of walking on two legs. The act of walking occurs when certain limbs periodically repeat their own movements. This movement is called a step. The walking movement is formed by the repetition of steps. Human body structural design has been tried to adapt to todays technology with different approaches, but while trying to make a technological difference during these approaches, they neglected some basic facts. In this study, the humanoid walking motion was divided into parts in the form of stepping and divided into 2 as mobility and balance ability and analyzed mathematically. An ideal physical model design that will provide movement has been realized. The mathematical model that emerged as a result of the examination of the walking movement was applied to the sample movements and analyzed with the graphical results obtained.

 Hareket edebilmek eylemi canlılığın bir sonucudur ve en gelişmiş türü ise 2 ayak üzerinde yürüme eylemidir. Belirli uzuvların kendi hareketlerini periyodik olarak tekrarlamasıyla yürüme eylemi meydana gelir. Bu hareket adım olarak adlandırılır. Yürüme hareketi adımların tekrarlanmasıyla oluşur. İnsan gövde yapısal tasarımı farklı yaklaşımlar ile günümüz teknolojisine uyarlamaya çalışılmıştır ancak bu yaklaşımlar esnasında teknolojik açıdan bir fark yaratmak isterken bir takım temel gerçekleri ihmal etmişlerdir. Bu çalışmada, insansı yürüme hareketi adımlama biçiminde parçalara bölünerek hareket kabiliyeti ve denge kabiliyeti olarak 2 ye ayrılmış ve matematiksel olarak incelenmiştir. Hareketi sağlayacak ideal bir fiziksel model tasarım gerçekleştirilmiştir. Yürüme hareketinin incelenmesi sonucu ortaya çıkan matematiksel model örnek hareketlerde uygulanarak analiz edilmiş elde edilen grafiksel sonuçlarla yorumlanmıştır.

Makale detayları

MUSCLE-SKELETAL MODEL APPROACH IN HUMANOID ROBOTS

Yazarlar:

Hikmet İmamoğlu | Süleyman Murat Bağdatlı

Yayıncı:

Manisa Celal Bayar University

Ana Başlıklar:

Mekatronik Sistem Tasarımı | Kontrol Mühendisliği | Mekatronik ve Robotik (Diğer) | Makine Tasarımı ve Makine Elemanları | Makine Teorisi ve Dinamiği

Dergi:

Soma Meslek Yüksekokulu Teknik Bilimler Dergisi Vol.1 Issue 37, pp.15-29

Belge Tipi:

Makale

Yayın Tarihi:

7/2024

Belge Dili:

Türkçe

Document ID (Org No.):

2001324248

pISSN:

1304-6330

Humanoid robot

Human-gait

Musculoskeletal model

Humanoid balance stepİnsansı robot

İnsan yürüyüşü

Kas-İskelet Modeli

İnsansı Denge Adımı

Sayı

Makale detayları

Yazarlar: Hikmet İmamoğlu | Süleyman Murat Bağdatlı

Yayıncı: Manisa Celal Bayar University

Ana Başlıklar: Mekatronik Sistem Tasarımı | Kontrol Mühendisliği | Mekatronik ve Robotik (Diğer) | Makine Tasarımı ve Makine Elemanları | Makine Teorisi ve Dinamiği

Dergi: Soma Meslek Yüksekokulu Teknik Bilimler Dergisi Vol.1 Issue 37, pp.15-29

Belge Tipi: Makale

Yayın Tarihi: 7/2024

Belge Dili: Türkçe

Document ID (Org No.): 2001324248

pISSN: 1304-6330

Sayı

Yazarlar:

Hikmet İmamoğlu | Süleyman Murat Bağdatlı

Yayıncı:

Manisa Celal Bayar University

Ana Başlıklar:

Mekatronik Sistem Tasarımı | Kontrol Mühendisliği | Mekatronik ve Robotik (Diğer) | Makine Tasarımı ve Makine Elemanları | Makine Teorisi ve Dinamiği

Dergi:

Soma Meslek Yüksekokulu Teknik Bilimler Dergisi Vol.1 Issue 37, pp.15-29

Belge Tipi:

Makale

Yayın Tarihi:

7/2024

Belge Dili:

Türkçe

Document ID (Org No.):

2001324248

pISSN:

1304-6330