Yazar "Kalyoncu, Mete" seçeneğine göre listele

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  • Küçük Resim
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    A literature review on walking strategies of legged robots
    (Gazi Üniversitesi, 2020) Bakırcıoğlu, Veli; Kalyoncu, Mete
    Bu çalışmada, ayaklı hareket üzerine yapılan geçmiş dönem araştırmalara; özellikle, ayaklı robotlar literatürünün önemli kilometre taşlarına değinilmiştir. Geçmiş dönem araştırmalardan, öncelikle canlıların yürüyüşü ve bunu taklit edebilen makineler üzerine yapılan çalışmalardan bahsedilmiştir. Daha sonra, çalışmanın konusu olan ayaklı robotların tarihçesi ele alınmıştır. Ayaklı robotlar üzerine yapılan çalışmalarda, yürüyüş stratejisi olarak iki temel yaklaşım söz konusudur; statik yürüyüş ve dinamik yürüyüş. Bu sebepten dolayı ayaklı robotlar tarihçesi, Statik Yürüyen Ayaklı Robotlar ve Dinamik Yürüyen Ayaklı Robotlar olmak üzere iki temel başlık altında kronolojik sırayla anlatılmıştır. Statik Yürüyen Ayaklı Robotlar başlığında, engebeli yüzeylerde hareket ve engelleri aşma gibi arazi adaptasyonunun daha karmaşık problemleriyle başa çıkmak için çok bacaklı sistemlerin kontrol edilmesine yönelik tekniklerin geliştirilmesi üzerine yapılan araştırmalar; Dinamik Yürüyen Ayaklı Robotlar başlığında ise, koşma ve zıplama gibi oldukça gelişmiş hareket kabiliyetlerine sahip ayaklı sistemler geliştirebilmek için dinamik kontrol kavramlarının ve tekniklerinin ilerletilmesi üzerine yapılan araştırmalar sunulmuştur.
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    Öğe
    Numerical investigation and experimental verification of the proposed robot leg virtual model
    (SAGE Publications Ltd, 2022) Bakırcıoğlu, Veli; Şen, Muhammed Arif; Kalyoncu, Mete
    Modeling and simulation studies are significant in the early stages of the design process, since there is no prototype. For instance, dynamic systems such as control systems can be developed rapidly and effectively with the simulation studies. However, the validity of the results obtained from the simulation studies performed with the dynamic model should be verified before deepening the design studies. After all, the accuracy of the results of the performed simulations depends on the accuracy of the obtained model. In this paper, studies on the numerical analysis of the proposed leg model to be used in a quadruped robot, and experimental verification of the dynamic model obtained by this means are presented. In this context, a simulation model has been constructed by using the physical and mathematical model that includes all the major components of the proposed robot leg in order to evaluate the performances of different algorithms in the design studies. In order to evaluate the validity of the simulation model, a series of tests were carried out on the experimental setup and the obtained results were demonstrated both numerically and graphically. According to the obtained results, it was seen that the built simulation model was valid, and matched with the real system and its physical trends. Finally, after discussing the reliability and validity of the proposed robot leg experimental and simulation setup, low-level components affecting controller performance in hydraulically actuated robots are discussed and recommendations made.
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    Öğe
    Optimization of PID controller based on the Bees Algorithm for one leg of a quadruped robot
    (EDP Sciences, 2016) Bakırcıoğlu, Veli; Şen, Muhammed Arif; Kalyoncu, Mete
    In this paper, we apply The Bees Algorithm to find optimal PID controller gains to control angular positions of robot leg joints with the minimum position error. In order to present more realistic simulation, system modelled in MATLAB/Simulink environment which is close to experimental set up. Solid model of system, which has two degrees of freedom, drawn by using a CAD software. Required physical specifications of robot leg for MATLAB/Simulink modelling is obtained from this CAD model. Controller of the system is designed in MATLAB/Simulink interface. Simulation results derived to show effectiveness of The Bees Algorithm to find optimal PID controller gains. © 2016 Owned by the authors, published by EDP Sciences.
  • Küçük Resim
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    Optimization-driven design and experimental validation of a hydraulic robot leg mechanism
    (2025) Bakırcıoğlu, Veli; Çabuk, Nihat; Jond, Hossein B.; Kalyoncu, Mete
    Hydraulic-actuated legs for quadruped robots excel in producing high force and offering precise control. Although the overall efficiency of hydraulic servo systems can be limited by pump and valve losses, the local mechanical efficiency from the actuator to the leg mechanism can be relatively high. This study introduces an optimization driven methodology for designing and validating robotic leg mechanisms using evolutionary algorithms. By solving three distinct optimization problems, the study addresses trajectory tracking accuracy and force transmission efficiency. The resulting design was experimentally validated, demonstrating reliable motion reproduction with minimal deviation and achieving a force transmission efficiency of 94%. These results demonstrate the feasibility of translating optimization outcomes into high-performing physical prototypes, providing a robust framework for future robotic mechanism developmen
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    Öğe
    Performances comparison of the bees algorithm and genetic algorithm for PID controller tuning
    (Association for Computing Machinery, 2016) Şen, Muhammed Arif; Bakırcıoğlu, Veli; Kalyoncu, Mete
    The inverted pendulum system is a classical benchmarking problem which is used to compare of optimization algorithms in the design of the controller. This paper presents the design of PID controllers for Inverted Pendulum (IP) system using The Bees Algorithm (BA) and Genetic Algorithm (GA) both of which are two evolutionary heuristics are population-based search methods. The main goal of the study is get optimal gains for PID controllers based on the two different tuning algorithm to balance the pendulum in upright stable position while moving the cart to a desired input. The optimization aim is to minimize of the objective function which includes the time domain responses of the cart's position and the pendulum's angle. To comparison the performances of the BA and GA, algorithms are run on the nonlinear model of the system which is designed in MATLAB/Simulink/SimMechanics. The effectiveness comparison of the BA and GA is implemented using the responses of system controlled by PID controllers with tuned gains. The obtained simulation results indicate that the BA and GA approaches have similar performances in this study and both of them had better performance compared to traditional methods. © 2016 ACM.