8 citations · 9 across the 5 of their papers we have counts for
6 papers
Robust walking based on MPC with viability guarantees
Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete +2
Model predictive control (MPC) has shown great success for controlling complex systems such as legged robots. However, when closing the loop, the performance and feasibility of the…
Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning
Mohammad Hasan Yeganegi, Majid Khadiv, S. Ali A. Moosavian +3
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO pro…
RoboWalk: Explicit Augmented Human-Robot Dynamics Modeling for Design Optimization
S. Ali A. Moosavian, Mahdi Nabipour, Farshid Absalan +1
Utilizing orthoses and exoskeleton technology in various applications and medical industries, particularly to help elderly and ordinary people in their daily activities is a new gr…
Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning
Majid Khadiv, Mohammad Hasan Yeganegi, S. Ali A. Moosavian +2
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO pro…
Stable Stair-Climbing of a Quadruped Robot
Ali Zamani, Mahdi Khorram, S. Ali A. Moosavian
Synthesizing a stable gait that enables a quadruped robot to climb stairs is the focus of this paper. To this end, first a stable transition from initial to desired configuration i…
Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment
Majid Khadiv, Sebastien Kleff, Alexander Herzog +3
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the…