Aida Mohammadi Nejad RashtyTechnische Universität Darmstadt | TU · Institut für Sportwissenschaft
Aida Mohammadi Nejad Rashty
Master of Science
About
7
Publications
702
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62
Citations
Introduction
Additional affiliations
June 2018 - present
January 2013 - April 2014
Education
June 2018 - March 2021
September 2004 - March 2007
KNTU (Khaje Nasir Toosi University of Technology)
Field of study
- Electrical Engineering/ Control
September 1999 - September 2004
KNTU (Khaje Nasir Toosi University of Technology)
Field of study
- Electrical Engineering/ Control
Publications
Publications (7)
In order to approach the performance of biological locomotion in legged robots, better integration between body design and control is required. In that respect, understanding the mechanics and control of human locomotion will help us build legged robots with comparable efficient performance. From another perspective, developing bioinspired robots c...
Compared to biological muscles, current technical actuators are limited in their performance and versatility to realize human-like locomotion. In order to overcome the actuator limitations for locomotion, we introduce the hybrid EPA actuator as a combination of electric and pneumatic actuators in this chapter. As a new variable impedance actuator,...
Robotic limb design struggles to combine energy efficiency with human-like levels of movement versatility. High efficiency and a range of angles and torques are characteristics of human hopping at different frequencies. Humans use muscles in combination with tendons to achieve the required joint actuation. Therefore, we consider whether appropriate...
Template models, which are utilized to demonstrate general aspects in human locomotion, mostly investigate stance leg operation. The goal of this paper is presenting a new conceptual walking model benefiting from swing leg dynamics. Considering a double pendulum equipped with combinations of biarticular springs for the swing leg beside spring-mass...
Swing leg adjustment, repulsive leg function and balance are key elements in the control of bipedal locomotion. In simple gait models like spring-loaded inverted pendulum (SLIP), swing leg control can be applied to achieve stable running. The aim of this study is to investigate the ability of pendulum like swing leg motion for stabilizing running a...
Bouncing, balancing and swinging the leg forward can be considered as three basic control tasks for bipedal locomotion. Defining the trunk by an unstable inverted pendulum, balancing as being translated to trunk stabilization is the main focus of this paper. The control strategy is to generate a hip torque to have upright trunk to achieve robust ho...
Several researchers have proposed methods about combination of Genetic Algorithm (GA) and Fuzzy Logic (the use of GA to obtain fuzzy rules and application of fuzzy logic in optimization of GA). In this paper, we suggest a new method in which fuzzy decision making is used to improve the performance of genetic algorithm. In the suggested method, we d...
Projects
Project (1)
Compared to muscles (as biological actuators), a similarly appropriate actuator for legged robots is still missing. This actuator needs to be energy-efficient and robust against perturbations (e.g., impacts) over a range of different gaits and conditions (e.g., speed). In this project, we aim at designing such an actuator by combining the advantages of electric motors (EM) and pneumatic artificial muscles (PAM) in a novel electric-pneumatic actuator, called EPA.
