Obtaining the gait pattern joint angles of the bipedal walking robot by physical and mathematical methods

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dc.authoridTez, Taşkın/0000-0002-9837-3213;
dc.authorwosidTez, Taşkın/HOF-9504-2023
dc.authorwosidKuscu, Hilmi/S-4903-2017
dc.authorwosidTez, Taşkın/KAM-4544-2024
dc.contributor.authorTez, Taskin
dc.contributor.authorKuscu, Hilmi
dc.date.accessioned2024-06-12T10:54:41Z
dc.date.available2024-06-12T10:54:41Z
dc.date.issued2023
dc.departmentTrakya Üniversitesien_US
dc.description.abstractIn this study, physical, mathematical, and geometric methods were used to produce the static walking patterns of the bipedal robot. For the static walking of the bipedal robot, a flat surface was used and zero moment point criteria were adhered to. The walking patterns produced were applied to the 12-jointed bipedal robot, and it was carried out to walk on a flat surface. Figure A. Gait pattern of the right leg for a gait cycle and the biped robot gait pattern.Purpose: The aim of this study is to obtain the static walking patterns of the bipedal robot, similar to a human gait, by physical, mathematical, and geometric methods and to realize the static walking of the bipedal robot.Theory and Methods: In this study, firstly; Physics, mathematics, geometry, trigonometry, forward, and inverse kinematics methods were used to obtain the values of the joint angles required for the walking pattern of the bipedal robot. Then, the balance control of the bipedal robot was obtained according to the zero moment point method. Thus, the patterns of the joint angles required for the static walking of the bipedal robot were found. However, the gait patterns produced are only used for static walking. Therefore, the bipedal robot has to only walk on a flat surface, as shown in Figure A.Results: In this study, no physical intervention was made on the bipedal robot and static walking of the bipedal robot without falling on a flat surface was performed.Conclusion: When the theoretically calculated angle values are applied to the bipedal robot, it has been determined that the angles of the servo motors in the joints of the bipedal robot move to the desired position. However, since the walking pattern is made with the static walking algorithm, the bipedal robot cannot increase its speed whenever it wants like a human. Therefore, the speed and stride length of the bipedal robot has been limited due to static walking.en_US
dc.identifier.doi10.17341/gazimmfd.1071916
dc.identifier.endpage1644en_US
dc.identifier.issn1300-1884
dc.identifier.issn1304-4915
dc.identifier.issue3en_US
dc.identifier.scopus2-s2.0-85146667102en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.startpage1631en_US
dc.identifier.trdizinid1159584en_US
dc.identifier.urihttps://doi.org/10.17341/gazimmfd.1071916
dc.identifier.urihttps://search.trdizin.gov.tr/yayin/detay/1159584
dc.identifier.urihttps://hdl.handle.net/20.500.14551/19149
dc.identifier.volume38en_US
dc.identifier.wosWOS:000968663800026en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.indekslendigikaynakTR-Dizinen_US
dc.language.isoenen_US
dc.publisherGazi Univ, Fac Engineering Architectureen_US
dc.relation.ispartofJournal Of The Faculty Of Engineering And Architecture Of Gazi Universityen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectBipedal Roboten_US
dc.subjectStatic Walkingen_US
dc.subjectRobot Walkingen_US
dc.subjectRobot Gait Analysisen_US
dc.subjectGait Patternen_US
dc.titleObtaining the gait pattern joint angles of the bipedal walking robot by physical and mathematical methodsen_US
dc.typeArticleen_US

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