34 citations · 61 across the 10 of their papers we have counts for
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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…