88 citations · 147 across the 12 of their papers we have counts for
12 papers
Joint torques prediction of a robotic arm using neural networks
Giulia d'Addato, Ruggero Carli, Eurico Pedrosa +3
Accurate dynamic models are crucial for many robotic applications. Traditional approaches to deriving these models are based on the application of Lagrangian or Newtonian mechanics…
Q-Learning based system for path planning with unmanned aerial vehicles swarms in obstacle environments
Alejandro Puente-Castro, Daniel Rivero, Eurico Pedrosa +3
Path Planning methods for autonomous control of Unmanned Aerial Vehicle (UAV) swarms are on the rise because of all the advantages they bring. There are more and more scenarios whe…
Robust Biped Locomotion Using Deep Reinforcement Learning on Top of an Analytical Control Approach
Mohammadreza Kasaei, Miguel Abreu, Nuno Lau +2
This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This fram…
A CPG-Based Agile and Versatile Locomotion Framework Using Proximal Symmetry Loss
Mohammadreza Kasaei, Miguel Abreu, Nuno Lau +2
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face exte…
Learning Hybrid Locomotion Skills -- Learn to Exploit Residual Dynamics and Modulate Model-based Gait Control
Mohammadreza Kasaei, Miguel Abreu, Nuno Lau +3
This work aims to combine machine learning and control approaches for legged robots, and developed a hybrid framework to achieve new capabilities of balancing against external pert…
A Modular Framework to Generate Robust Biped Locomotion: From Planning to Control
Mohammadreza Kasaei, Ali Ahmadi, Nuno Lau +1
Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of b…
A Hierarchical Framework to Generate Robust Biped Locomotion Based on Divergent Component of Motion
Mohammadreza Kasaei, Nuno Lau, Artur Pereira
Keeping the stability can be counted as the essential ability of a humanoid robot to step out of the laboratory to work in our real environment. Since humanoid robots have similar…
A Robust Closed-Loop Biped Locomotion Planner Based on Time Varying Model Predictive Control
Mohammadreza Kasaei, Nuno Lau, Artur Pereira
Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion p…
A Fast and Stable Omnidirectional Walking Engine for the Nao Humanoid Robot
Mohammadreza Kasaei, Nuno Lau, Artur Pereira
This paper proposes a framework designed to generate a closed-loop walking engine for a humanoid robot. In particular, the core of this framework is an abstract dynamics model whic…
A Robust Biped Locomotion Based on Linear-Quadratic-Gaussian Controller and Divergent Component of Motion
Mohammadreza Kasaei, Nuno Lau, Artur Pereira
Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this pap…
A Model-Based Balance Stabilization System for Biped Robot
Mohammadreza Kasaei, Nuno Lau, Artur Pereira
This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the ove…
Comparison Study of Well-Known Inverted Pendulum Models for Balance Recovery in Humanoid Robot
Mohammadreza Kasaei, Nuno Lau, Artur Pereira
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a co…