Saeed Mansouri

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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)
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)
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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