Dynamic position controlof robot manipulators

Bodur, Mehmet


Intelligent gait control of a multilegged robot used in rescue operations
Karalarlı, Emre; Erkmen, Aydan Müşerref; Erkmen, İsmet; Department of Electrical and Electronics Engineering (2003)
In this thesis work an intelligent controller based on a gait synthesizer for a hexapod robot used in rescue operations is developed. The gait synthesizer draws decisions from insect-inspired gait patterns to the changing needs of the terrain and that of rescue. It is composed of three modules responsible for selecting a new gait, evaluating the current gait, and modifying the recommended gait according to the internal reinforcements of past time steps. A Fuzzy Logic Controller is implemented in selecting t...
Optimal control of a half circular compliant legged monopod
Özkan Aydın, Yasemin; Leblebicioğlu, Mehmet Kemal; Saranlı, Afşar; Department of Electrical and Electronics Engineering (2013)
Legged robots have complex architecture because of their nonlinear dynamics and unpredictable ground contact characteristics. They can be also dynamically stable and exhibit dynamically dexterous behaviors like running, jumping, flipping which require complex plant models that may sometimes be difficult to build. In this thesis, we focused on half circular compliant legged monopod that can be considered as a reduced-order dynamical model for the hexapod robot, called RHex. The main objective of this thesis ...
Synchronization of multiple serially actuated robotic legs using virtual damping control
Özen, Merve; Saranlı, Uluç; Department of Computer Engineering (2018)
Even though one-legged models have been found to be a useful fundamental basis for understanding and controlling the dynamics of running, animals and physical robots alike often use multiple legs for additional support, dexterity, and stability. In general, the dynamics of such multi-legged morphologies are more complex and their control is more difficult. A common problem in this context is to achieve a particular phase relationship between periodic oscillations of different legs, resulting in different lo...
Implementation of a closed-loop action generation system on a humanoid robot through learning by demonstration
Tunaoğlu, Doruk; Şahin, Erol; Department of Computer Engineering (2010)
In this thesis the action learning and generation problem on a humanoid robot is studied. Our aim is to realize action learning, generation and recognition in one system and our inspiration source is the mirror neuron hypothesis which suggests that action learning, generation and recognition share the same neural circuitry. Dynamic Movement Primitives, an efficient action learning and generation approach, are modified in order to fulfill this aim. The system we developed (1) can learn from multiple demonstr...
Body attitude control of a planar one-legged hopping robot using a novel air drag assisted reaction wheel
Akmandor, Neşet Ünver; Saranlı, Afşar; Yazıcıoğlu, Yiğit; Department of Electrical and Electronics Engineering (2016)
In the literature, spring-loaded inverted pendulum (SLIP) model with damping has been used to represent the dynamics of legged locomotion. Based on a planar version of the model, a group of existing work focus on controlling the hip torque (between body and leg) in stance and in flight phases to generate stable planar locomotion (the SLIP-T model). Most of these studies assume an infinite body inertia such that the applied hip torque does not affect the attitude of the robot body. In practice, for any finit...
Citation Formats
M. Bodur, “Dynamic position controlof robot manipulators,” Ph.D. - Doctoral Program, Middle East Technical University, 1991.