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

fYear

2010

fDate

Nov. 29 2010-Dec. 1 2010

Firstpage

1

Lastpage

4

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Power, Control and Embedded Systems (ICPCES), 2010 International Conference on

Conference_Location

Allahabad

Print_ISBN

978-1-4244-8543-7

Type

conf

DOI

10.1109/ICPCES.2010.5698680

Filename

5698680