Hossein Tamaddoni - Academia.edu (original) (raw)
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Papers by Hossein Tamaddoni
ABSTRACT The motivation of this work is to synthesize a kicking pattern for a humanoid robot with... more ABSTRACT The motivation of this work is to synthesize a kicking pattern for a humanoid robot with consideration of various objectives such as retaining its balance even after the kick is done and reducing the undesired angular momentum using both hands and torso. This kick pattern is designed so that a desirable ball velocity is achieved. In this paper, the law of conservation of angular momentum is used to generate a less energy consuming trajectory. Effectiveness of the proposed method is verified using computer simulation and is tested on Sharif CEDRA humanoid robot.
Int. J. Human. …, Jan 1, 2010
Human running can be stabilized in a wide range of speeds by automatically adjusting muscular pro... more Human running can be stabilized in a wide range of speeds by automatically adjusting
muscular properties of leg and torso. It is known that fast locomotion dynamics can
be approximated by a spring loaded inverted pendulum (SLIP) system, in which leg is replaced by a single spring connecting body mass to ground. Taking advantage of the inherent stability of SLIP model, a hybrid control strategy is developed that guarantees a stable biped locomotion in sagittal plane. In the presented approach, nonlinear control methods are applied to synchronize the biped dynamics and the spring-mass dynamics.
As the biped center of mass follows the mass of the mass-spring model, the whole biped performs a stable locomotion corresponding to SLIP model. Simulations are done to
obtain a repeatable hopping for a three-link underactuated biped model. Results show that periodic hopping gaits can be stabilized, and the presented control strategy provides
feasible gait trajectories for stance and swing phases.
ABSTRACT The motivation of this work is to synthesize a kicking pattern for a humanoid robot with... more ABSTRACT The motivation of this work is to synthesize a kicking pattern for a humanoid robot with consideration of various objectives such as retaining its balance even after the kick is done and reducing the undesired angular momentum using both hands and torso. This kick pattern is designed so that a desirable ball velocity is achieved. In this paper, the law of conservation of angular momentum is used to generate a less energy consuming trajectory. Effectiveness of the proposed method is verified using computer simulation and is tested on Sharif CEDRA humanoid robot.
Int. J. Human. …, Jan 1, 2010
Human running can be stabilized in a wide range of speeds by automatically adjusting muscular pro... more Human running can be stabilized in a wide range of speeds by automatically adjusting
muscular properties of leg and torso. It is known that fast locomotion dynamics can
be approximated by a spring loaded inverted pendulum (SLIP) system, in which leg is replaced by a single spring connecting body mass to ground. Taking advantage of the inherent stability of SLIP model, a hybrid control strategy is developed that guarantees a stable biped locomotion in sagittal plane. In the presented approach, nonlinear control methods are applied to synchronize the biped dynamics and the spring-mass dynamics.
As the biped center of mass follows the mass of the mass-spring model, the whole biped performs a stable locomotion corresponding to SLIP model. Simulations are done to
obtain a repeatable hopping for a three-link underactuated biped model. Results show that periodic hopping gaits can be stabilized, and the presented control strategy provides
feasible gait trajectories for stance and swing phases.