Publication: Modelling and control of humanoid motion cyclical motion
Date
2017
Authors
Murad Abdullah Mohammed Yaaqob
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Abstract
The project is about the development of a suitable control strategy for ankle, knee, and hip joints using Soildworks, SimWise 4D, and Matlab /Simulink. The simulation of cyclical paraplegic legs motion is then carried out in the software environment. The successful design of the control strategies used in this particular case would of beneficial applications to those involve in the rehabilitation engineering as well as
medical field.
The project can be subdivided into two parts. The first part comprises the development of humanoid, chair, and stationary bicycle models using Soildwork, and Sim Wise4D Salid
The second part highlights upon the search for a suitable control strategy for the joints, where the location of the bicycle is varied. Different assumptions and simplifications are made so that the project can be carried smoothly. The development of the controllers for the ankle, knee, and hip joints is carried out using Matlab Simulink and SimWise 4D as well. Different controllers are used in the project. These consist of PI, PD, and PID controllers. The results obtained are then analyzed and conclusions made.
Description
TJ211.M87 2017
Keywords
Robotics