{"title":"生物机器人腿的混合自适应模糊控制","authors":"J. K. Rai, R. P. Tewari, D. Chandra","doi":"10.1109/ICPCES.2010.5698680","DOIUrl":null,"url":null,"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.","PeriodicalId":439893,"journal":{"name":"2010 International Conference on Power, Control and Embedded Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Hybrid adaptive fuzzy control of bio robotic leg\",\"authors\":\"J. K. Rai, R. P. Tewari, D. Chandra\",\"doi\":\"10.1109/ICPCES.2010.5698680\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":439893,\"journal\":{\"name\":\"2010 International Conference on Power, Control and Embedded Systems\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 International Conference on Power, Control and Embedded Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICPCES.2010.5698680\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 International Conference on Power, Control and Embedded Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICPCES.2010.5698680","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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.
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