45 citations · 106 across the 35 of their papers we have counts for
5 papers · 1 filter
Imprecise dynamic walking with time-projection control
Salman Faraji, Philippe Muellhaupt, Auke J. Ijspeert
We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Ta…
Scalable closed-form trajectories for periodic and non-periodic human-like walking
Salman Faraji, Auke Jan Ijspeert
We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a line…
Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs
Alexander Spröwitz, Alexandre Tuleu, Mostafa Ajallooeian +9
We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 robot is one of a kind of a recent, bioinspired legged robot class designed…
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…