Year 2013, Volume 1, Issue 2, Pages 34 - 49 2013-08-01

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

Arif Ankarali [1] , Murat Cilli [2]

312 753

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.
ANFIS, inverse kinematics; Fuzzy logic; Hybrid control; Gait model
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Primary Language tr
Journal Section Articles
Authors

Author: Arif Ankarali

Author: Murat Cilli

Dates

Publication Date: August 1, 2013

Bibtex @ { apjes29263, journal = {Akademik Platform Mühendislik ve Fen Bilimleri Dergisi}, issn = {}, eissn = {2147-4575}, address = {Akademik Platform}, year = {2013}, volume = {1}, pages = {34 - 49}, doi = {10.5505/apjes.2013.24633}, title = {ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model}, key = {cite}, author = {Ankarali, Arif and Cilli, Murat} }
APA Ankarali, A , Cilli, M . (2013). ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model. Akademik Platform Mühendislik ve Fen Bilimleri Dergisi, 1 (2), 34-49. DOI: 10.5505/apjes.2013.24633
MLA Ankarali, A , Cilli, M . "ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model". Akademik Platform Mühendislik ve Fen Bilimleri Dergisi 1 (2013): 34-49 <http://dergipark.org.tr/apjes/issue/2200/29263>
Chicago Ankarali, A , Cilli, M . "ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model". Akademik Platform Mühendislik ve Fen Bilimleri Dergisi 1 (2013): 34-49
RIS TY - JOUR T1 - ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model AU - Arif Ankarali , Murat Cilli Y1 - 2013 PY - 2013 N1 - doi: 10.5505/apjes.2013.24633 DO - 10.5505/apjes.2013.24633 T2 - Akademik Platform Mühendislik ve Fen Bilimleri Dergisi JF - Journal JO - JOR SP - 34 EP - 49 VL - 1 IS - 2 SN - -2147-4575 M3 - doi: 10.5505/apjes.2013.24633 UR - https://doi.org/10.5505/apjes.2013.24633 Y2 - 2019 ER -
EndNote %0 Academic Platform Journal of Engineering and Science ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model %A Arif Ankarali , Murat Cilli %T ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model %D 2013 %J Akademik Platform Mühendislik ve Fen Bilimleri Dergisi %P -2147-4575 %V 1 %N 2 %R doi: 10.5505/apjes.2013.24633 %U 10.5505/apjes.2013.24633
ISNAD Ankarali, Arif , Cilli, Murat . "ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model". Akademik Platform Mühendislik ve Fen Bilimleri Dergisi 1 / 2 (August 2013): 34-49. https://doi.org/10.5505/apjes.2013.24633
AMA Ankarali A , Cilli M . ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model. APJES. 2013; 1(2): 34-49.
Vancouver Ankarali A , Cilli M . ANFIS Inverse Kinematics and Hybrid Control of a Human Leg Gait Model. Akademik Platform Mühendislik ve Fen Bilimleri Dergisi. 2013; 1(2): 49-34.