A control approach for a robotic ground walking platform

Salheddine Ayad; Abdelkader Megueni; Mohammed Ayad; Henrik Schiøler; Mark de Zee; Lotte N. S. Andreasen Struijk

doi:10.1109/ECAI.2017.8166446

A control approach for a robotic ground walking platform

Salheddine Ayad, Abdelkader Megueni, Mohammed Ayad, Henrik Schiøler, Mark de Zee, Lotte N. S. Andreasen Struijk

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

2 Citations (Scopus)

Abstract

This study presents a control approach for a Ground Walking Platform (GWP). The control approach was developed to be a part of a future lower limb rehabilitation robot that aims to simulate the walking on different terrains (e.g. walking, on plane ground, on stairs, or on a hill). In addition the system aims to simulate for the user not only classic hard ground walking trajectories, but also to simulate different values of stiffens of as well. This may involve walking on solid ground, muddy land, sand and water too. The objective of this paper is to present a dynamic control study of a GWP system allowing us to predict the relationship between the walker's foot and a virtual environment. More specifically, his involves defining the equations describing the relation between the contact forces (foot/platform) and the position of the foot.

Original language	English
Title of host publication	9th International Conference on Electronics, Computers and Artificial Intelligence, ECAI, 29 June-1 July 2017, Targoviste, Romania
Number of pages	4
Publisher	IEEE
Publication date	2017
ISBN (Print)	978-1-5090-6457-1
ISBN (Electronic)	978-1-5090-6458-8
DOIs	https://doi.org/10.1109/ECAI.2017.8166446
Publication status	Published - 2017
Event	9th International Conference on Electronics, Computers and Artificial Intelligence, ECAI - Targoviste, Romania Duration: 29 Jun 2017 → 1 Jul 2017

Conference

Conference	9th International Conference on Electronics, Computers and Artificial Intelligence, ECAI
Country/Territory	Romania
City	Targoviste
Period	29/06/2017 → 01/07/2017

Keywords

Foot
Legged locomotion
Force
Admittance
Software packages
Manipulators
force control
gait analysis
medical robotics
patient rehabilitation
position control
control approach
robotic ground walking platform
plane ground
solid ground
dynamic control study
GWP system
contact forces
lower limb rehabilitation robot
foot position
Ground simulation
rehabilitationt robot
admittance control
virtual reality
walking Platform

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10.1109/ECAI.2017.8166446

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Cite this

@inproceedings{98e6850f8ee548b1b4612819662bace2,

title = "A control approach for a robotic ground walking platform",

abstract = "This study presents a control approach for a Ground Walking Platform (GWP). The control approach was developed to be a part of a future lower limb rehabilitation robot that aims to simulate the walking on different terrains (e.g. walking, on plane ground, on stairs, or on a hill). In addition the system aims to simulate for the user not only classic hard ground walking trajectories, but also to simulate different values of stiffens of as well. This may involve walking on solid ground, muddy land, sand and water too. The objective of this paper is to present a dynamic control study of a GWP system allowing us to predict the relationship between the walker's foot and a virtual environment. More specifically, his involves defining the equations describing the relation between the contact forces (foot/platform) and the position of the foot.",

keywords = "Foot, Legged locomotion, Force, Admittance, Software packages, Manipulators, force control, gait analysis, medical robotics, patient rehabilitation, position control, control approach, robotic ground walking platform, plane ground, solid ground, dynamic control study, GWP system, contact forces, lower limb rehabilitation robot, foot position, Ground simulation, rehabilitationt robot, admittance control, virtual reality, walking Platform",

author = "Salheddine Ayad and Abdelkader Megueni and Mohammed Ayad and Henrik Schi{\o}ler and {de Zee}, Mark and Struijk, {Lotte N. S. Andreasen}",

year = "2017",

doi = "10.1109/ECAI.2017.8166446",

language = "English",

isbn = "978-1-5090-6457-1",

booktitle = "9th International Conference on Electronics, Computers and Artificial Intelligence, ECAI, 29 June-1 July 2017, Targoviste, Romania",

publisher = "IEEE",

address = "United States",

note = "9th International Conference on Electronics, Computers and Artificial Intelligence, ECAI ; Conference date: 29-06-2017 Through 01-07-2017",

}

Ayad, S, Megueni, A, Ayad, M, Schiøler, H , de Zee, M & Struijk, LNSA 2017, A control approach for a robotic ground walking platform. in 9th International Conference on Electronics, Computers and Artificial Intelligence, ECAI, 29 June-1 July 2017, Targoviste, Romania. IEEE, 9th International Conference on Electronics, Computers and Artificial Intelligence, ECAI, Targoviste, Romania, 29/06/2017. https://doi.org/10.1109/ECAI.2017.8166446

A control approach for a robotic ground walking platform. / Ayad, Salheddine; Megueni, Abdelkader; Ayad, Mohammed et al.
9th International Conference on Electronics, Computers and Artificial Intelligence, ECAI, 29 June-1 July 2017, Targoviste, Romania. IEEE, 2017.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - A control approach for a robotic ground walking platform

AU - Ayad, Salheddine

AU - Megueni, Abdelkader

AU - Ayad, Mohammed

AU - Schiøler, Henrik

AU - de Zee, Mark

AU - Struijk, Lotte N. S. Andreasen

PY - 2017

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AB - This study presents a control approach for a Ground Walking Platform (GWP). The control approach was developed to be a part of a future lower limb rehabilitation robot that aims to simulate the walking on different terrains (e.g. walking, on plane ground, on stairs, or on a hill). In addition the system aims to simulate for the user not only classic hard ground walking trajectories, but also to simulate different values of stiffens of as well. This may involve walking on solid ground, muddy land, sand and water too. The objective of this paper is to present a dynamic control study of a GWP system allowing us to predict the relationship between the walker's foot and a virtual environment. More specifically, his involves defining the equations describing the relation between the contact forces (foot/platform) and the position of the foot.

KW - Foot

KW - Legged locomotion

KW - Force

KW - Admittance

KW - Software packages

KW - Manipulators

KW - force control

KW - gait analysis

KW - medical robotics

KW - patient rehabilitation

KW - position control

KW - control approach

KW - robotic ground walking platform

KW - plane ground

KW - solid ground

KW - dynamic control study

KW - GWP system

KW - contact forces

KW - lower limb rehabilitation robot

KW - foot position

KW - Ground simulation

KW - rehabilitationt robot

KW - admittance control

KW - virtual reality

KW - walking Platform

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DO - 10.1109/ECAI.2017.8166446

M3 - Article in proceeding

SN - 978-1-5090-6457-1

BT - 9th International Conference on Electronics, Computers and Artificial Intelligence, ECAI, 29 June-1 July 2017, Targoviste, Romania

PB - IEEE

T2 - 9th International Conference on Electronics, Computers and Artificial Intelligence, ECAI

Y2 - 29 June 2017 through 1 July 2017

ER -

A control approach for a robotic ground walking platform

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