Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor
Pezhman Abdolahnezhad, Aghil Yousefi-Koma, Amirhosein Vedadi, Kasra Sinaei, Behnam Maleki, Milad Shafiee
2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)
Bipedal locomotion optimization by exploitation of the full dynamics in dcm trajectory planning
Amirhosein Vedadi, Kasra Sinaei, Pezhman Abdolahnezhad, Shahriar Sheikh Aboumasoudi, Aghil Yousefi-Koma
2021 9th RSI International Conference on Robotics and Mechatronics (ICRoM)
SURENA IV: Towards a cost-effective full-size humanoid robot for real-world scenarios
Aghil Yousefi-Koma, Behnam Maleki, Hessam Maleki, Amin Amani, Mohammad Ali Bazrafshani, Hossein Keshavarz, Ala Iranmanesh, Alireza Yazdanpanah, Hamidreza Alai, Sahel Salehi, Mahyar Ashkvari, Milad Mousavi, Milad Shafiee Ashtiani
2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)
Optimal stair climbing pattern generation for humanoids using virtual slope and distributed mass model
Ahmadreza Shahrokhshahi, Aghil Yousefi-Koma, Majid Khadiv, Saeed Mansouri, Seyed Saeid Mohtasebi
Journal of Intelligent & Robotic Systems
Rigid vs compliant contact: an experimental study on biped walking
Majid Khadiv, S Ali A Moosavian, Aghil Yousefi-Koma, Majid Sadedel, Abbas Ehsani-Seresht, Saeed Mansouri
Multibody System Dynamics
A whole-body model predictive control scheme including external contact forces and com height variations
Reihaneh Mirjalili, Aghil Yousefi-Korna, Farzad A Shirazi, Arman Nikkhah, Fatemeh Nazemi, Majid Khadiv
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
New approach to center of mass estimation for humanoid robots based on sensor measurements and general lipm
Hamidreza Alai, Farzad A Shirazi, Aghil Yousefi-Koma
2018 6th RSI International Conference on Robotics and Mechatronics (ICRoM)
Investigation on Adding Passive Toe Joints to the Feet Structure of 2D Humanoid Robot
Majid Sadedel, Aghil Yousefi-koma, Faezeh Iranmanesh
Journal of Modeling in Engineering
Heel-strike and toe-off motions optimization for humanoid robots equipped with active toe joints
Majid Sadedel, Aghil Yousefi-Koma, Majid Khadiv, Faezeh Iranmanesh
Robotica
Robust bipedal locomotion control based on model predictive control and divergent component of motion
Milad Shafiee-Ashtiani, Aghil Yousefi-Koma, Masoud Shariat-Panahi
2017 IEEE International Conference on Robotics and Automation (ICRA)
Online proportional myoelectric control of a humanoid shoulder motions using electromyogram signals
Armin Ehrampoosh, Aghil Yousefi-Koma, Moosa Ayati, Seyed Saeid Mohtasebi
Modares Mechanical Engineering
Adding low-cost passive toe joints to the feet structure of SURENA III humanoid robot
Majid Sadedel, Aghil Yousefi-Koma, Majid Khadiv, Mohhamad Mahdavian
Robotica
Design and implementation of small-sized 3d printed surena-mini humanoid platform
Arman Nikkhah, Aghil Yousefi-Koma, Reihaneh Mirjalili, Hossein Morvaridi Farimani
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)
Push recovery of a position-controlled humanoid robot based on capture point feedback control
Milad Shafiee-Ashtiani, Aghil Yousefi-Koma, Reihaneh Mirjalili, Hessam Maleki, Mojtaba Karimi
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)
A reactive and efficient walking pattern generator for robust bipedal locomotion
Fatemeh Nazemi, Aghil Yousefi-Koma, Majid Khadiv
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)
Online adaptation for humanoids walking on uncertain surfaces
Majid Khadiv, S Ali A Moosavian, Aghil Yousefi-Koma, Hessam Maleki, Majid Sadedel
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Balance recovery of a humanoid robot using hip and ankle joints on small contact surfaces
Milad Shafiee Ashtiani, Aghil Yousefi Koma, Masoud Shariat Panahi, Majid Khadiv
Modares Mechanical Engineering
Investigation on dynamic modeling of SURENA III humanoid robot with heel-off and heel-strike motions
Majid Sadedel, Aghil Yousefi-Koma, Majid Khadiv, Saeed Mansouri
Iranian Journal of Science and Technology, Transactions of Mechanical Engineering
Optimal gait planning for humanoids with 3D structure walking on slippery surfaces
Majid Khadiv, S Ali A Moosavian, Aghil Yousefi-Koma, Majid Sadedel, Saeed Mansouri
Robotica
Design and fabrication of a gripper actuated by shape memory alloy spring
Nafise Faridi Rad, Aghil Yousefi-Koma, Hanie Rezaei, Mohammad Ali Bazrafshani
2016 4th International Conference on Robotics and Mechatronics (ICRoM)
Online path planning for SURENA III humanoid robot using model predictive control scheme
Reihaneh Mirjalili, Aghil Yousefi-Koma, Farzad A Shirazi, Saeed Mansouri
2016 4th International Conference on Robotics and Mechatronics (ICRoM)
A novel three-mass inverted pendulum model for real-time trajectory generation of biped robots
Mostafa Eslami, Aghil Yousefi-Koma, Majid Khadiv
2016 4th International Conference on Robotics and Mechatronics (ICRoM)
Design improvement of a 2-DOF ankle joint actuation mechanism for a humanoid robot
Mahyar Ashkvari, Aghil Yousefi-Koma, Hossein Keshavarz, Masoud Shariat-Panahi
2016 4th International Conference on Robotics and Mechatronics (ICRoM)
Push recovery of a humanoid robot based on model predictive control and capture point
Milad Shafiee-Ashtiani, Aghil Yousefi-Koma, Masoud Shariat-Panahi, Majid Khadiv
2016 4th International Conference on Robotics and Mechatronics (ICRoM)
A novel model based on the three-mass inverted pendulum for real-time walking pattern generation of biped robots
Mostafa Eslami, AY Koma, Majid Khadiv
Modares Mechanical Engineering
Design and optimization of an ankle joint actuating mechanism of a humanoid robot
Mahyar Ashkvari, AY Koma, Masoud Shariat Panahi, Hossein Keshavarz
Modares Mechanical Engineering
Optimal trajectory generation for energy consumption minimization and moving obstacle avoidance of a 4DOF robot arm
Mohammad Mahdavian, Masoud Shariat-Panahi, Aghil Yousefi-Koma, Amirmasoud Ghasemi-Toudeshki
2015 3rd International Conference on Robotics and Mechatronics (ICRoM)
Optimal Trajectory Generation for Energy Consumption Minimization and Obstacle Avoidance of SURENA III Robot’s Arm
Mohammad Mahdavian, Aghil Yousefi-Koma, Masoud Shariat-Panahi, Majid Khadiv, Amirmasoud Ghasemi Toudeshki
International Journal of Robotics, Theory and Applications
System identification of a humanoid robot power transmission system
Ahmadreza Shahrokhshahi, Mahsa Khalili, Aghil Yousefi-Koma, Mohammad Mahdavian
2014 2nd International Conference on Robotics and Mechatronics (ICRoM)
Offline path planning, dynamic modeling and gait optimization of a 2D humanoid robot
Majid Sadedel, Aghil Yousefi-koma, Majid Khadiv
2014 2nd International Conference on Robotics and Mechatronics (ICRoM)
ZMP trajectory control of a humanoid robot using different controllers based on an offline trajectory generation
Behnam Aghbali, Aghil Yousefi-Koma, Amirmasoud Ghasemi Toudeshki, Ahmadreza Shahrokhshahi
2013 1st International Conference on Robotics and Mechatronics (ICRoM)
