Proportional derivative like fuzzy logic control of dynamic walking with crutches

R. Jailani, K. Panagiotis, M. O. Tokhi, S. C. Gharooni, Z. Hussain, M. S. Huq, B. S.Ksm K. Ibrahim

Research output: Chapter in Book/Report/Conference proceedingConference proceeding

Abstract

This paper presents investigations into paraplegic mobility with crutches using fuzzy logic control techniques. The Visual Nastran software is used to develop a humanoid model using existing anthropometric data. The humanoid model is integrated with Matlab/ Simulink for analysis and control purposes. Finite state control is used to determine the gait phase, and PD like fuzzy logic control is used to trigger the relative torque moments for active joints. The results show that the technique can be employed to control paraplegic gait with crutches.

Original languageEnglish
Title of host publicationMobile Robotics
Subtitle of host publicationSolutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
EditorsO. Tosun, M. O. Tokhi, G. S. Virk, H. L. Akin
PublisherWorld Scientific Publishing
Pages1137-1144
Number of pages8
ISBN (Print)9814291269, 9789814291262
Publication statusPublished - 1 Dec 2010
Externally publishedYes
Event12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - Istanbul, Turkey
Duration: 9 Sep 200911 Sep 2009
Conference number: 12

Publication series

NameMobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

Conference

Conference12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Abbreviated titleCLAWAR 2009
CountryTurkey
CityIstanbul
Period9/09/0911/09/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Jailani, R., Panagiotis, K., Tokhi, M. O., Gharooni, S. C., Hussain, Z., Huq, M. S., & Ibrahim, B. S. K. K. (2010). Proportional derivative like fuzzy logic control of dynamic walking with crutches. In O. Tosun, M. O. Tokhi, G. S. Virk, & H. L. Akin (Eds.), Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 (pp. 1137-1144). (Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009). World Scientific Publishing.