1 citations · 1 across the 2 of their papers we have counts for
4 papers
Push recovery with stepping strategy based on time-projection control
Salman Faraji, Hamed Razavi, Auke J. Ijspeert
In this paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dy…
Time-projection control to recover inter-sample disturbances, application to bipedal walking control
Salman Faraji, Philippe Muellhaupt, Auke J. Ijspeert
We present a new walking controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage…
A new time-projecting controller based on 3LP model to recover intermittent pushes
Salman Faraji, Auke J. Ijspeert
In this paper, we present a new walking controller based on 3LP model. Taking advantage of linear equations and closed-form solutions of 3LP, the proposed controller can project th…
3LP: a linear 3D-walking model including torso and swing dynamics
Salman Faraji, Auke J. Ijspeert
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and t…