7 citations · 21 across the 11 of their papers we have counts for
4 papers · 1 filter
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…