91 citations · 109 across the 5 of their papers we have counts for
5 papers
Gait trajectory generation for a five link bipedal robot based on a reduced dynamical model
Yosra Arous, Olfa Boubaker
In this paper, a simple trajectory generation method for biped walking is proposed. The dynamic model of the five link bipedal robot is first reduced using several biologically ins…
The inverted Pendulum: A fundamental Benchmark in Control Theory and Robotics
Olfa Boubaker
For at least fifty years, the inverted pendulum has been the most popular benchmark, among others, for teaching and researches in control theory and robotics. This paper presents t…
A Relevant Reduction Method for Dynamic Modeling of a Seven-linked Humanoid Robot in the Three-dimensional Space
Amira Aloulou, Olfa Boubaker
In this paper, the dynamic modeling of a seven linked humanoid robot, is accurately developed, in the three dimensional space using the Newton-Euler formalism. The aim of this stud…
Robust Tracking Control for Constrained Robots
Haifa Mehdi, Olfa Boubaker
In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are pr…
Compliant motion control for handling a single object by two similar industrial robots
Hanéne Mkaouar, Olfa Boubaker
In this paper, we propose a compliant motion control strategy for handling a single object by two similar industrial robots. The dynamics of the object carried by the two robots is…