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dc.contributor.authorSoliman, Ahmed Fahmy
dc.contributor.authorŞendur, Polat
dc.contributor.authorUğurlu, Regaip Barkan
dc.date.accessioned2020-09-30T09:38:59Z
dc.date.available2020-09-30T09:38:59Z
dc.date.issued2019-06
dc.identifier.isbn978-172812755-2
dc.identifier.issn1945-7898en_US
dc.identifier.urihttp://hdl.handle.net/10679/6974
dc.identifier.urihttps://ieeexplore.ieee.org/document/8779438
dc.description.abstractThis paper presents a framework to address three dimensional (3-D) dynamic walking for a bipedal exoskeleton with underactuated legs. To achieve this goal, the framework is constructed via a trajectory generator and an optimized inverse kinematics algorithm that can cope with underactuation. In order to feasibly attain task velocities with underactuated legs, the inverse kinematics algorithm makes use of a task prioritization method via the exploitation of null space. In doing so, the tasks with lower priority, e.g., swing foot orientation, are attained as much as possible without disrupting the higher priority tasks, such as CoM trajectory. Meanwhile, the trajectory generator utilizes the ZMP concept analytically and ensures the acceleration continuity throughout the whole walking period, regardless of the contact and phase changes. The proposed method is verified via a lumped human-bipedal exoskeleton model that is developed and simulated in MSC.ADAMS simulation environment. As a result, we obtained feasible and dynamically balanced 3-D walking motion, in which no oblique foot landing or exaggerated torso orientation variations were observed, despite the underactuated nature of the robot legs.en_US
dc.description.sponsorshipTÜBİTAK
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relationinfo:turkey/grantAgreement/TUBITAK/215E138
dc.relation.ispartof2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)
dc.rightsrestrictedAccess
dc.title3-D dynamic walking trajectory generation for a bipedal exoskeleton with underactuated legs: A proof of concepten_US
dc.typeConference paperen_US
dc.publicationstatusPublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0003-2212-7419 & YÖK ID 274138) Şendur, Polat
dc.contributor.authorID(ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan
dc.contributor.ozuauthorŞendur, Polat
dc.contributor.ozuauthorUğurlu, Regaip Barkan
dc.identifier.startpage599en_US
dc.identifier.endpage604en_US
dc.identifier.doi10.1109/ICORR.2019.8779438en_US
dc.identifier.scopusSCOPUS:2-s2.0-85071163864
dc.contributor.ozugradstudentSoliman, Ahmed Fahmy
dc.contributor.authorMale3
dc.relation.publicationcategoryConference Paper - International - Institutional Academic Staff and Graduate Student


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