Mohamad Mosadeghzad

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The balance control of humanoid robots against external perturbations is a fundamental prerequisite for operating in unstructured environments where physical interaction may unexpectedly occur. These balancing actions can be very demanding in terms of power and torque requirements for ankle joints especially after strong and sudden impacts. In this work, an(More)
Keeping balance is the main concern for humanoids in standing and walking tasks. This paper endeavors to acquire optimal ankle stabilization methods for humanoids with passive and active compliance and explain ankle balancing strategy from the compliance regulation perspective. Unlike classical stiff humanoids, the compliant ones can control both impedance(More)
In this paper, we present a study on dynamic simulation to assist designing a high performance compliant humanoid robot. An open source dynamic simulator is introduced which includes the rigid body and actuator dynamics of the full humanoid robot. A set of representative tasks for humanoid robot in rescue operations are chosen and simulated. The data from(More)
This paper investigates the performance of impedance control utilizing an inner loop PI torque controller. Stiffness and damping shaping vary within a specified range of values. The impedance control problem is formulated taking into account a specified range of stiffness and damping parameters. The analysis and design is carried out in discrete time.(More)
This work presents a biologically inspired solution to problems that arise in multisensory attention, with a specific application to binaural humanoid robotics. The focus was on using only two microphones as an analogy to mammalian auditory system. The goal was to localize a salient sound source and to fuse this information with a visual-salience feature(More)
The process of resolving mixtures of several sounds into their separate individual streams is known as auditory scene analysis and it remains a challenging task for computational systems. It is well-known that animals use binaural differences in arrival time and intensity at the two ears to find the arrival angle of sounds in the azimuthal plane, and this(More)
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