34 citations · 61 across the 10 of their papers we have counts for
10 papers
FC Portugal 3D Simulation Team: Team Description Paper 2020
Nuno Lau, Luis Paulo Reis, David Simoes +3
The FC Portugal 3D team is developed upon the structure of our previous Simulation league 2D/3D teams and our standard platform league team. Our research concerning the robot low-l…
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…