Rafael Stanley Nunez Cruz

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In this paper, we present the method used to design a humanoid robot called Johnny by optimizing the energy consumption of walking. The mechanical model is inspired on passive dynamic walkers. We used a basic genetic algorithm to find, at the same time, the optimal mechanical parameters, as well as the optimal walking trajectories and the optimal gains, for(More)
This paper presents an application of the active disturbance rejection control approach for humanoid robot stable walking, which is a control strategy based on the extended state observer and cascade integrator canonical form features from modern control theory to deal with disturbances, nonlinearities and unmodeled dynamics. The proposed controller is(More)
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