How does one move out before or at age 18?

Hello and thank you for your time. I have quite a few questions, so please bear with me. As of now, I have read article upon article that explains that it is possible to legally move out of your parents house at 18. However, because I personally have suffered from emotional abuse at the hands of my mother for about 13 years, I have recently begun researching all topics included within the "moving out" boundary. What does emancipation have to do with anything and how does it work? If I were to move into a friends/ loved ones home, what would my parents legally be allowed to do? Any and all information on this topic would be greatly appreciated.