Modelling and Analysis of Legged Robots with Temporary Flight Capabilities
![](/xmlui/themes/Mirage2//images/mime2.png)
View/ Open
Date
2022Author
Gültekin, Oğuzhan
xmlui.dri2xhtml.METS-1.0.item-emb
Acik erisimxmlui.mirage2.itemSummaryView.MetaData
Show full item recordAbstract
The high obstacle-crossing potential of legged robots has made them a widely studied subject. However, the obstacles that can be overcome are generally proportional to the length of the legs. And any study, that states a legged robot can overcome an obstacle higher than twice the length of the leg has not been encountered in the literature. This situation has made many researchers think about the integration of the capability of flying. Also, this thesis covers the same idea on the RHex robot which is not studied yet. Also, no study has been presented so far in which the orientation of a RHex robot's body is controlled with the help of legs in space.
The basis of this thesis is how we humans use our arms and bodies while trying to stay in balance. Similarly, the orientation of the robot's body was controlled by the reactions of the forces applied to the legs in space so that it was possible to control the magnitude and direction of the thrust vector of a thruster fixed to the robot. This means that the movements of the robot could also be controlled. In this study, an existing robot platform RHex was used. The complex geometry and dynamics of the RHex robot were not studied; instead, a 2D simplified model was obtained, and a controller with the desired transient behavior was designed by extracting and linearizing the equations of motion of the simplified model. Then, with the help of a designed flight simulator, the designed controllers' transient behaviors and actuator efforts were examined, and their performances were evaluated.
xmlui.mirage2.itemSummaryView.Collections
xmlui.dri2xhtml.METS-1.0.item-citation
Gültekin, O., MODELLING AND ANALYSIS OF LEGGED ROBOTS WITH TEMPORARY FLIGHT CAPABILITIES, Hacettepe Üniversitesi, 2022 (unpublished Master's thesis).Related items
Showing items related by title, author, creator and subject.
-
Nesneye Yönelik ve Robot Programlamanın Öğrenci Başarısına, Soyutlamaya, Problem Çözmeye ve Motivasyona Etkilerinin İncelenmesi
Çınar, Murat (Eğitim Bilimleri Enstitüsü, 2019)This study comparatively examined the effects of object-oriented (comparison) and robotic (experimental) programming on student achievement, abstraction, problem solving, and motivation. The study included 81 tenth-grade ... -
Elastomerlerin Sayısal Yöntemlerle Analizi ve Şekilsel Döküm Yöntemi ile Darbelere Dayanıklı Robot Geliştirilmesi
Shamsadinlo, Behrang (Fen Bilimleri Enstitüsü, 2013)The robotic and its evolution in recent years is one of the most transformative inventions of man. Over years innovations have made robots faster, more intelligent and smart. Modern robots utilize increasing numbers of ... -
Endüstriyel Çizgi Takip Eden Robot Cihazı Geliştirilmesi
İren, Kıvanç (Fen Bilimleri Enstitüsü, 2013)Today, line-following robots are being used in the industrial field in accordance with the emerging technology. For a while, line-following robots have begun conducting the transport operations generally carried out by ...