2 citations · 2 across the 2 of their papers we have counts for
4 papers · 1 filter
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…
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 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…