Title :
Hybrid adaptive fuzzy control of bio robotic leg
Author :
Rai, J.K. ; Tewari, R.P. ; Chandra, Dinesh
Author_Institution :
Electr. Eng. Dept., M.N. Nat. Inst. of Technol., Allahabad, India
fDate :
Nov. 29 2010-Dec. 1 2010
Abstract :
This paper presents a hybrid adaptive fuzzy control of bio-robotic leg. A mathematical dynamic model of bio-robotic leg having three links i.e. thigh, shank and foot is considered here. The Lagrange-Euler formulation is used to obtain the dynamic equations of motion for calculating torques at various joints. Since the dynamics of leg is a highly complex and nonlinear system, hybrid adaptive fuzzy control utilizing tracking error and modeling error is considered here. Polynomial trajectory used as reference trajectory is based on gait cycle of human walking data. The simulation work is carried out in MATLAB. The results showed that the proposed controller can be used to control level walking of a bio-robotic leg just like natural leg.
Keywords :
adaptive control; artificial limbs; fuzzy control; gait analysis; mathematics computing; medical robotics; Lagrange-Euler formulation; MATLAB; biorobotic leg; dynamic motion equations; foot; gait cycle; human walking data; hybrid adaptive fuzzy control; modeling error; polynomial trajectory; shank; thigh; tracking error; Adaptation model; Biological system modeling; Humans; Leg; Legged locomotion; Trajectory; Adaptive fuzzy control; bio robotic leg; dynamics; gait cycle;
Conference_Titel :
Power, Control and Embedded Systems (ICPCES), 2010 International Conference on
Conference_Location :
Allahabad
Print_ISBN :
978-1-4244-8543-7
DOI :
10.1109/ICPCES.2010.5698680
