In this article, a general method for dynamics modeling of a humanoid robot which interacts
with its environment is presented. This general method is based on developing equations …

Stability fulfilment for biped robots is drastically essential. Thus, to predict and maintain a
dynamic stable status of biped robots defining an accurate stability measure is required …

This paper proposes a gait planning approach to reduce the required friction for a biped
robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered …

Biped robots possess higher capabilities than other mobile robots for moving on uneven
environments. However, due to natural postural instability of these robots, their motion …

This study presents a new kinetostatic model for humanoid robots (HRs). Screw theory,
together with Assur virtual chains and Davies' method, provides the required tools for the …

The understudy SURENA III humanoid robot was designed and fabricated at the Center of
Advanced Systems and Technologies (CAST) located in the University of Tehran. In this …

The complexities in the dynamic model of the legged robots make it necessary to utilize
model-free controllers in the task of trajectory tracking. In This paper, an adaptive transpose …

Despite model-based approaches are capable of providing acceptable performance, but
they require complex dynamics modeling, which make them difficult to apply. To overcome …

Quadruped robots have many advantages over other robots. Their excellent potentials to
traverse different terrains are one of main advantages which distinguish these robots from …

Robotics researchers have studied the stability maintenance requirements of bipedal robots
since they are inherently unstable. An accurate postural stability measure is required to …