Unless you only have one parent living then you cannot get emancipated from just one parent.
When you get emancipated you need the parents permission and a court hearing to get legally emancipated.
You'll be getting emancipated from both parents and you require both parents permission to become emancipated from them unless you only have one parent living.
In some states you may be able to get emancipated from your parents at 16 years old without your parents consent.
But to be able to get emancipated at 16 without your parents consent you usually must be married at the time.
Other times you'll need a court order and a parents permission to become emancipated from them at age 16.
The age to legally become emancipated from your parents in most states and jurisdictions is 16 years old.
Getting emancipated grants the teen the right to independence from their parents or guardians and then the teen is no longer obligated to do what there parents or guardians tell them to do.
So when you become emancipated you're basically on your own and your parents and guardians are no longer legally obligated to provide or care for you.
Being on your own is difficult and expensive so unless your parents or guardians are really bad then you should really stay with your parents for as long as you can.
Once you get out on your own and become emancipated the cost of living is all up to you along with all the other responsibilities that come with being an adult.