Design of a proposed neural network control system for trajectory controlling of walking robots

Yıldırım, Şahin

doi:10.1016/j.simpat.2007.12.002

Cited by 9 publications

(4 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…(14) (15) It has been emphasized before that the safe landing of the UAV is a very important issue. For this The UAV can either land on a flat ground or land on a sloping ground by keeping its body straight, or it can land on a sloping ground with a certain angle of inclination of its body.…”

Section: Adaptive Landing Gear Systemmentioning

confidence: 99%

See 1 more Smart Citation

Design and Kinematic Analysis of Proposed Adaptive Landing Gear for Multirotor UAV

Çabuk¹

2021

El-Cezeri Fen Ve Mühendislik Dergisi

View full text Add to dashboard Cite

One of the weaknesses of multi-rotor unmanned aerial vehicles (UAVs) or vertical take-off and landing aircraft is that they need a flat surface to make a safe landing. In order to reduce the impact of this weakness, it is inevitable to add systems that will give the UAV some additional capabilities related to landing capability. In this study, a four-arm adaptive landing gear is designed and kinematically analyzed for a multirotor UAV. The adaptability feature is achieved by positioning the arm ends relative to the uneven ground by automatically changing the angles of the revolute joints so that the vehicle can land safely on uneven ground. The joint angles of the adaptive landing gear, which consists of four robotic arms, each with two joints, are changed by the controller depending on the distance information received from the ultrasonic distance sensor. This distance information is evaluated in the controller according to the determined algorithm and the required angle values of the joints are determined. Within the scope of this study, a scaled adaptive landing gear was designed for an eight-rotor UAV whose mathematical model was also obtained. According to proposed landing gear, which consists of four arms with two limbs, each with a length of 200 mm, the maximum angle of inclination of the uneven ground on which the UAV can land safely is calculated as 44.5°. In addition, the motion trajectory of the end point of the arm, which is the part of the arm that will contact the ground, was obtained with the simulation performed.

show abstract

Section: Adaptive Landing Gear Systemmentioning

confidence: 99%

“…Luo et al [13] worked on a model in which a quadrotor drone had a four-piece landing gear attached to the vehicle for smoother landing. They claimed that they obtained satisfactory results from these landing gear controlled based on artificial neural networks [14,15]. Nadan et.…”

Section: Introductionmentioning

confidence: 99%

Design and Kinematic Analysis of Proposed Adaptive Landing Gear for Multirotor UAV

Çabuk¹

2021

El-Cezeri Fen Ve Mühendislik Dergisi

View full text Add to dashboard Cite

show abstract

“…On the other hand, an artificial Immune System Implementation upon Embryonic Machine for Hardware Fault-tolerant Industrial Control Applications has been studied and improved by Géza, Csaba, and Chindris (2010). The use of a proposed recurrent hybrid neural network to control of walking robot with four legs has been investigated by Yildirim (2008). In his investigation, a neural networks based control system has been utilized to the control of four-legged walking robot.…”

Section: Introductionmentioning

confidence: 99%

Performance Analysis of An Experimental Micro Flexible Manufacturing System (FMS)

Yıldırım

Yücel

2016

RIiM

Self Cite

View full text Add to dashboard Cite

Due to advanced technology, it is very important the performance of FMS for sensivity, production quality, repeatability and energy consumptions. Flexible manufacturing systems (FMSs) are the most automated and technologically sophisticated of the machine cell types used to implement cellular manufacturing. An FMS usually has multiple automated stations and is capable of variable routings among stations, while its flexibility allows it to operate as a mixed model system. The FMS concept integrates many of the advanced technologies that we met in previous units, including flexible automation, CNC machines, distributed computer control, and automated material handling and storage. In this experimental investigation, vibration and accelerations analysis of an experimental FMS with 5 degrees of freedom robot manipulator are presented. Firstly, experimental measurement of accelerations and vibrations are trained with a vibration measurement system and sensors. However, the process of production of part is a cycle of exact production time.

show abstract

“…As discussed above, kinematics is a very important subject of investigation, many related researches [3][4][5][6] have been done for the kinetmatic analysis of the legged robots. In this paper, kinematic models of the swing leg and the stance leg will be constructed for workspace research.…”

Section: Introductionmentioning

confidence: 99%

Workspace Analyzing for Hybrid Serial-Parallel Mechanism of a New Bionic Quadruped Robot

Song

Ding

2015

AMM

View full text Add to dashboard Cite

In this paper, a new bionic quadruped robot was proposed by us. The mechanism of robot we analyzed is as a hybrid series-parallel mechanism, so a new methods for constructing the kinematic model of the bionic quadruped robot very quickly and efficiently was introduced. we analyzed the workspace of the legged mechanism by using geometric composition method and numerical analysis method in the following section. Furthermore, the kinematic model of the parallel mechanism of the multi-motion mode bionic quadruped robot was constructed when the robot was in the stance phase, we also construct and solve the inverse kinematic model of the parallel mechanism of the robot, and the simulation results provide a better method for the robot’s workspace analyzing;Finally, the simulation experiment showed that the method we presented above could provide a good support for the multi-motion mode bionic quadruped robot walking smoothly and automatically.

show abstract

Design of a proposed neural network control system for trajectory controlling of walking robots

Cited by 9 publications

References 5 publications

Design and Kinematic Analysis of Proposed Adaptive Landing Gear for Multirotor UAV

Design and Kinematic Analysis of Proposed Adaptive Landing Gear for Multirotor UAV

Performance Analysis of An Experimental Micro Flexible Manufacturing System (FMS)

Workspace Analyzing for Hybrid Serial-Parallel Mechanism of a New Bionic Quadruped Robot

Contact Info

Product

Resources

About