Read this article. You cannot get emancipated merely because you want to move out. Your state allows for de facto emancipation with the consent of your parents but, given that a third party has legal custody of your, it does not appear that your parents have any legal right to custody or to emancipate you.
Sources suggest that your state permits judicial emancipation (which generally requires proof that you are living independently, support yourself, can manage your affairs, understand the consequences of emancipation, and that emancipation is in your best interest; although I have not found a case with your specific state's requirements) or based on lawful marriage.

