Co-simulation research of a novel exoskeleton-human robot system on humanoid gaits with fuzzy-PID/PID algorithms
A novel lower extremity exoskeleton with seriesparallel 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.
co-simulation humanoid gaits lower extremity exoskeleton wearable robotics fuzzy algorithm seriesparallel mechanism