13 citations · 22 across the 6 of their papers we have counts for
6 papers
Surena-V: A Humanoid Robot for Human-Robot Collaboration with Optimization-based Control Architecture
Mohammad Ali Bazrafshani, Aghil Yousefi-Koma, Amin Amani +10
This paper presents Surena-V, a humanoid robot designed to enhance human-robot collaboration capabilities. The robot features a range of sensors, including barometric tactile senso…
Comparative Evaluation of RGB-D SLAM Methods for Humanoid Robot Localization and Mapping
Amirhosein Vedadi, Aghil Yousefi-Koma, Parsa Yazdankhah +1
In this paper, we conducted a comparative evaluation of three RGB-D SLAM (Simultaneous Localization and Mapping) algorithms: RTAB-Map, ORB-SLAM3, and OpenVSLAM for SURENA-V humanoi…
Kinematic Base State Estimation for Humanoid using Invariant Extended Kalman Filter
Amirhosein Vedadi, Aghil Yousefi-Koma, Masoud Shariat-Panahi +1
This paper presents the design and implementation of a Right Invariant Extended Kalman Filter (RIEKF) for estimating the states of the kinematic base of the Surena V humanoid robot…
Estimation and Early Prediction of Grip Force Based on sEMG Signals and Deep Recurrent Neural Networks
Atusa Ghorbani, Aghil Yousefi-Koma, Amirhosein Vedadi
Hands are used for communicating with the surrounding environment and have a complex structure that enables them to perform various tasks with their multiple degrees of freedom. Ha…
Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor
Pezhman Abdolahnezhad, Aghil Yousefi-Koma, Amirhosein Vedadi +3
In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, a…
Bipedal Locomotion Optimization by Exploitation of the Full Dynamics in DCM Trajectory Planning
Amirhosein Vedadi, Kasra Sinaei, Pezhman Abdolahnezhad +2
Walking motion planning based on Divergent Component of Motion (DCM) and Linear Inverted Pendulum Model (LIPM) is one of the alternatives that could be implemented to generate onli…