ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model

Arif ANKARALİ; Murat CİLLİ

doi:https://doi.org/10.5505/apjes.2013.24633

Makale detayları

ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model

Yazarlar:

Arif ANKARALİ | Murat CİLLİ

Yayıncı:

Akademik Perspektif Derneği

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Academic Platform - Journal of Engineering and Science 2013 Vol.1 Issue 2, pp.34-49

Belge Tipi:

Makale

Yayın Tarihi:

7/2013

Belge Dili:

İngilizce

Document ID (Org No.):

2000875295

Sıklık:

Aylık

eISSN:

2822-2385

DOI:

https://doi.org/10.5505/apjes.2013.24633

Anahtar kelimeler:

Özet:

 

A hybrid learning procedure referred to as adaptive neuro fuzzy inference system (ANFIS) is applied to an artificial leg model to generate the correct positions of the servomotors actuating the leg joints. One of the most important control problems of mechanical arms and legs is the efficient calculation of correct joint angles for a space trajectory. Although this application represents the simplest model with two degrees of freedom, the practicality of ANFIS for such mechanical systems is validated. For the gait model of the proposed mechanism, the experimental planar motion of the ankle joint is transformed to joint angles by ANFIS and approximated by polynomial functions. The corresponding servomotor positions are obtained by the proposed inverse kinematic solution method and are included in a Simulink model as an embedded Matlab function. A hybrid control system consisting of combination of a proportional plus derivative (PD) controller and a fuzzy logic controller (FLC) is applied to control the selected servomotors. The accuracy of the control system is further verified on SimMechanics.

 


A hybrid learning procedure referred to as adaptive neuro fuzzy inference system (ANFIS) is applied to an artificial

leg model to generate the correct positions of the servomotors actuating the leg joints. One of the most important

control problems of mechanical arms and legs is the efficient calculation of correct joint angles for a space

trajectory. Although this application represents the simplest model with two degrees of freedom, the practicality of

ANFIS for such mechanical systems is validated. For the gait model of the proposed mechanism, the experimental

planar motion of the ankle joint is transformed to joint angles by ANFIS and approximated by polynomial functions.

The corresponding servomotor positions are obtained by the proposed inverse kinematic solution method and are

included in a Simulink model as an embedded Matlab function. A hybrid control system consisting of combination

of a proportional plus derivative (PD) controller and a fuzzy logic controller (FLC) is applied to control the selected

servomotors. The accuracy of the control system is further verified on SimMechanics. 

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Makale detayları

ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model

Yazarlar:

Arif ANKARALİ | Murat CİLLİ

Yayıncı:

Akademik Perspektif Derneği

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Academic Platform - Journal of Engineering and Science 2013 Vol.1 Issue 2, pp.34-49

Belge Tipi:

Makale

Yayın Tarihi:

7/2013

Belge Dili:

İngilizce

Document ID (Org No.):

2000875295

Sıklık:

Aylık

eISSN:

2822-2385

DOI:

https://doi.org/10.5505/apjes.2013.24633

inverse kinematics

Fuzzy logic

Hybrid control

Gait model

Sayı

Makale detayları

ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model

Yazarlar: Arif ANKARALİ | Murat CİLLİ

Yayıncı: Akademik Perspektif Derneği

Ana Başlıklar: Uygulamalı fizik

Dergi: Academic Platform - Journal of Engineering and Science 2013 Vol.1 Issue 2, pp.34-49

Belge Tipi: Makale

Yayın Tarihi: 7/2013

Belge Dili: İngilizce

Document ID (Org No.): 2000875295

Sıklık: Aylık

eISSN: 2822-2385

DOI: https://doi.org/10.5505/apjes.2013.24633

inverse kinematics

Fuzzy logic

Hybrid control

Gait model

Sayı

Yazarlar:

Arif ANKARALİ | Murat CİLLİ

Yayıncı:

Akademik Perspektif Derneği

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Academic Platform - Journal of Engineering and Science 2013 Vol.1 Issue 2, pp.34-49

Belge Tipi:

Makale

Yayın Tarihi:

7/2013

Belge Dili:

İngilizce

Document ID (Org No.):

2000875295

Sıklık:

Aylık

eISSN:

2822-2385

DOI:

https://doi.org/10.5505/apjes.2013.24633