dc.authorid	0000-0002-1170-5327
dc.authorid	0000-0002-3668-7591
dc.authorid	0000-0002-8418-805X
dc.authorid	0000-0002-2214-7631
dc.contributor.author	Bakırcıoğlu, Veli
dc.contributor.author	Çabuk, Nihat
dc.contributor.author	Jond, Hossein B.
dc.contributor.author	Kalyoncu, Mete
dc.date.accessioned	2025-04-22T08:09:51Z
dc.date.available	2025-04-22T08:09:51Z
dc.date.issued	2025
dc.department	Teknik Bilimler Meslek Yüksekokulu
dc.description.abstract	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
dc.identifier.doi	10.1016/j.measurement.2025.117096
dc.identifier.issn	02632241
dc.identifier.scopus	2-s2.0-85219353287
dc.identifier.scopusquality	Q1
dc.identifier.uri	https://dx.doi.org/10.1016/j.measurement.2025.117096
dc.identifier.uri	https://hdl.handle.net/20.500.12451/13098
dc.identifier.volume	250
dc.identifier.wos	001440907100001
dc.identifier.wosquality	Q1
dc.indekslendigikaynak	Scopus
dc.indekslendigikaynak	Web of Science
dc.institutionauthor	Bakırcıoğlu, Veli
dc.institutionauthor	Çabuk, Nihat
dc.institutionauthorid	0000-0002-1170-5327
dc.institutionauthorid	0000-0002-3668-7591
dc.language.iso	en
dc.relation.ispartof	Measurement: Journal of the International Measurement Confederation
dc.relation.publicationcategory	Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	Evolutionary Algorithms
dc.subject	Legged Robots
dc.subject	Optimal Mechanism Design
dc.subject	Optimization
dc.subject	Quadruped Robots
dc.title	Optimization-driven design and experimental validation of a hydraulic robot leg mechanism
dc.type	Article

Optimization-driven design and experimental validation of a hydraulic robot leg mechanism

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