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

#### Arif Ankarali [1] , Murat Cilli [2]

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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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Birincil Dil tr Makaleler Yazar: Arif Ankarali Yazar: Murat Cilli
 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 = {Cilli, Murat and Ankarali, Arif} } 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 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 - http://dx.doi.org/10.5505/apjes.2013.24633 Y2 - 2019 ER - EndNote %0 Akademik Platform Mühendislik ve Fen Bilimleri Dergisi 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 (Ağustos 2013): 34-49. http://dx.doi.org/10.5505/apjes.2013.24633