Mohamad Mosadeghzad

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— Keeping balance is the main concern for hu-manoids 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(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)
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