• TITLE: EXAMINATION ON BIPEDAL ROBOTS STRUCTURES AND MOTION CONTROL METHODS
• AUTHOR(S): H. Kuscu, E. Yilmazlar, T. Tez
• ABSTRACT: In this study, it is aimed to determine the equipment to be used in bipedal robots, walking motion structures, balance control systems and the points to be considered in the balance motion algorithm of the robot. In bipedal robots, the main purpose is to imitate human movement and to stay in balance. There are many studies in this field about bipedal robots, humanoid robots. Bipedal robots are an integrated system in which many mechanical, electronic equipment, control algorithms are integrated into the body. It is important to determine the mechanical, electromechanical structures, equilibrium, motion algorithms and control method used in such systems. The properties of the units used in this study and the control methods are explained. The effect of the work on the movement of the joints and the factors to be considered in the control of the center of gravity according to this change are explained.
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