6 citations · 9 across the 5 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…
Design and Implementation of a Fuzzy Adaptive Controller for Time-Varying Formation Leader-Follower Configuration of Nonholonomic Mobile Robots
Payam Nourizadeh, Aghil Yousefi-Koma, Moosa Ayati
In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying for…
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…
Push Recovery of a Position-Controlled Humanoid Robot Based on Capture Point Feedback Control
Milad Shafiee-Ashtiani, Aghil Yousefi-Koma, Reihaneh Mirjalili +2
In this paper, a combination of ankle and hip strategy is used for push recovery of a position-controlled humanoid robot. Ankle strategy and hip strategy are equivalent to Center o…
A Reactive and Efficient Walking Pattern Generator for Robust Bipedal Locomotion
Fatemeh Nazemi, Aghil Yousefi-koma, Farzad A. shirazi +1
Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing a…
Robust Bipedal Locomotion Control Based on Model Predictive Control and Divergent Component of Motion
Milad Shafiee-Ashtiani, Aghil Yousefi-Koma, Masoud Shariat-Panahi
In this paper, previous works on the Model Predictive Control (MPC) and the Divergent Component of Motion (DCM) for bipedal walking control are extended. To this end, we employ a s…