Saeed Mansouri

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Fast motion of bipeds is an interesting subject for researchers. It is well known that for a specified biped, with certain physical parameters and actuation capability, change of kinematic parameters of motion may change the speed of motion. Among such parameters is the share of single support phase (SSP) in one complete step. This work presents a parameter(More)
Stability and performance are two main issues in motion of bipeds. To ensure stability, motion of a biped needs to follow specific pattern to comply with certain stability criterion such as zero moment point. Actuator torques limitation is also a serious restriction on motion path. Indeed, the velocity of the robot during each step is bounded with robot's(More)
INTRODUCTION Ankle-brachial index (ABI) is a noninvasive test which employs as a diagnostic marker of atherosclerotic peripheral vascular disease in hemodialysis patients. This study aimed to investigate the association between ABI and left ventricular ejection fraction (LVEF) in patients on hemodialysis. MATERIALS AND METHODS Eighty-six patients with(More)
BACKGROUND Accurate tracking of the heart surface motion is a major requirement for robot assisted beating heart surgery. METHOD The feasibility of a stereo infrared tracking system for measuring the free beating heart motion was investigated by experiments on a heart motion simulator, as well as model surgery on a dog. RESULTS Simulator experiments(More)
In this paper, the main goal is to present an experimental comparison of the two prevailing contact modeling approaches of the bipedal locomotion, i. e. rigid versus compliant contact model. To do this, first, an explicit dynamics model for the robot multibody with rigid model of contact for various phases of walking is developed. Then, in order to develop(More)
In this paper, two online path planning methods are presented for SURENA III humanoid robot by using model predictive control scheme. The methods are general control schemes which can generate the online motions for walking of a humanoid robot. For lowering computational costs a three dimensional linear inverted pendulum model is used instead of the full(More)
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