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In practice, some differences are usually observed between computer simulation and experimental results of a chaotic circuit. In this paper, it is tried to obtain computer simulation results having more correlation with those obtained in practice by using ...
This paper presents a novel self-reconfigurable robotic system named ACMoD where each module can move itself individually. It can also attach to other modules to build various configurations and change this configuration adaptively on different terrains. I ...
In this article, we present a new linear model (3LP) for bipedal locomotion which can describe swing and torso dynamics as well as falling. Compared to traditional inverted-pendulum based models, 3LP produces more human-like center of mass trajectory and s ...
In this research we aim at proposing a general novel walking method for locomotion of torque controlled robots. The method should be able to produce a wide range of speeds without requiring off-line optimizations and re-tuning of parameters. It should be ca ...
Leg dynamics and control have been widely studied using mass-spring systems such as the Spring Loaded Inverted Pendulum (SLIP) model [1]. The SLIP model is commonly accepted as the simplest model that resembles leg dynamics. While simplicity facilitates th ...
Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to ...
In this article, we propose a new controller for recovering intermittent pushes during bipedal locomotion. We use 3LP as a template model which can provide closed-form solutions for state evolution. The idea behind our controller is to project the perturbe ...
In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...