2 papers
cs.RO2021
SURENA IV: Towards A Cost-effective Full-size Humanoid Robot for Real-world Scenarios
Aghil Yousefi-Koma, Behnam Maleki, Hessam Maleki +10
This paper describes the hardware, software framework, and experimental testing of SURENA IV humanoid robotics platform. SURENA IV has 43 degrees of freedom (DoFs), including seven…
cs.RO2021
Hybrid leg compliance enables robots to operate with sensorimotor delays and low control update frequencies
Milad Shafiee Ashtiani, Alborz Aghamaleki Sarvestani, Alexander Badri-Spröwitz
Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system. The sensorimotor control of legged robots is implemented with much higher frequ…