Mansoor Alghooneh

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Control of biped robots based on designated smooth and stable trajectories is a challenging problem that is the focus of this article. A desired trajectory for the lower body will be designed to alleviate the impacts due to contact with the ground. Then, the upper body motion is planned based on the Zero Moment Point (ZMP) criterion to provide a stable(More)
Biped robots have higher capabilities than other mobile robots, for moving on uneven environments. However, due to natural instability of these robots, their motion planning and control become a more important and challenging task. This article, will present a Cartesian approach for gate planning and control of biped robots without needing to use the joint(More)
Stability fulfilment for biped robots is drastically essential. Thus, to predict and maintain a dynamic stable status of biped robots defining an accurate stability measure is required which can represent dynamic equilibrium condition. Several postural stability metrics have been proposed so far. In this article, the Moment-Height stability (MHS) measure(More)
Limit-cycle walkers are capable of exhibiting high energyefficient and natural gait [1]. However, they are mostly of point or round feet, which are not capable of achieving safe standing and experiencing foot strike. Furthermore, their step length and walking velocity are fixed for a determined set of actuation, mass, and geometrical parameters since they(More)
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