کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
567290 1452138 2015 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Co-simulation research of a novel exoskeleton-human robot system on humanoid gaits with fuzzy-PID/PID algorithms
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر نرم افزار
پیش نمایش صفحه اول مقاله
Co-simulation research of a novel exoskeleton-human robot system on humanoid gaits with fuzzy-PID/PID algorithms
چکیده انگلیسی


• A novel lower extremity exoskeleton with series–parallel topology is presented.
• The humanoid gait characteristics decide that the control algorithm should be intelligent.
• A switch-typed and parameter self-tuning fuzzy-PID/PID controller is presented.
• Level walking, stair ascent, stair descent, side kick, squatting down and standing up co-simulations are presented.
• Simulation results show that the fuzzy-PID/PID controllers have great control performances.

Legged exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable mechanical legs that support heavy loads. The exoskeleton-type system is a nonlinear system with uncertainty of parameters, which is not easy to be identified with traditional mathematical model. This paper presents co-simulations of a novel exoskeleton-human robot system on humanoid gaits with fuzzy-PID/PID algorithms, which do not need the precise model. The lower extremity exoskeleton model with series–parallel topology was briefly described and the gait characteristics were analyzed. The co-simulation method integrates ADAMS and MATLAB/SIMULINK with fuzzy-PID/PID algorithms, which were used to develop the control schematic of the exoskeleton-human robot system. Finally, co-simulations of humanoid gaits and movements, which include level walking, stair ascent, stair descent, side kick, squatting down and standing up, were provided to confirm the performances and effectiveness of the proposed control approach.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Advances in Engineering Software - Volume 79, January 2015, Pages 36–46
نویسندگان
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