7 citations · 21 across the 11 of their papers we have counts for
13 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…
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…
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…
Rigid vs compliant contact: An experimental study on biped walking
Majid Khadiv, S. Ali A. Moosvian, Aghil Yousefi-Koma +3
Contact modeling plays a central role in motion planning, simulation, and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches…
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…
Push Recovery of a Humanoid Robot Based on Model Predictive Control and Capture Point
Milad Shafiee-Ashtiani, Aghil Yousefi-Koma, Masoud Shariat-Panahi +1
The three bio-inspired strategies that have been used for balance recovery of biped robots are the ankle, hip and stepping Strategies. However, there are several cases for a biped…
Kinematic analysis of a 3-UPU parallel Robot using the Ostrowski-Homotopy Continuation
Milad Shafiee-Ashtiani, Aghil Yousefi-Koma, Sahba Iravanimanesh +1
The direct kinematics analysis is the foundation of implementation of real world application of parallel manipulators. For most parallel manipulators the direct kinematics is chall…