An optimal control of bio-robotic leg for human-like walking

摘要

This paper presents an optimal control of bio-robotic leg for human-like walking. A mathematical dynamic model of bio-robotic leg having three links i.e. thigh, shank and foot is considered here. The Lagrange-Euler formulation is used to obtain the dynamic equations of motion for calculating torques at various joints of bio-robotic leg. Polynomial trajectory used as desired trajectory is based on gait cycle of human walking data. The results showed that the proposed optimal controller can be used to control level walking of a bio-robotic leg just like human even with bounded uncertainties. This study will help to improve the quality of life of physically challenged human subject with bio-robotic leg for level walking as well as walking over uneven surfaces and uncertain environmental conditions.