193 citations · 386 across the 51 of their papers we have counts for
4 papers · 2 filters
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…
Pattern Generation for Walking on Slippery Terrains
Majid Khadiv, S. Ali A. Moosavian, Alexander Herzog +1
In this paper, we extend state of the art Model Predictive Control (MPC) approaches to generate safe bipedal walking on slippery surfaces. In this setting, we formulate walking as…
Walking Control Based on Step Timing Adaptation
Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian +1
Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized ove…