193 citations · 386 across the 51 of their papers we have counts for
3 papers · 1 filter
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…
Step Timing Adjustment: A Step toward Generating Robust Gaits
Majid Khadiv, Alexander Herzog, S. Ali. A. Moosavian +1
Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we pro…
Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment
Majid Khadiv, Sebastien Kleff, Alexander Herzog +3
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the…