Ambarish.com
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- Title
- ambarish.com: Homepage of Ambarish Goswami
- Meta Description
- Ambarish Goswami homepage. This page describes Ambarish Goswami's reseach on modeling, dynamics and control of biped humanoid robots and robotics in general. Current research topics include balance and fall control of humanoid robots, push recovery of humanoid robots and active impedance based exoskeleton control. Past research topics include passive compass gait robots, passive dynamic walking, bifurcation and chaotic gait, gait symmetry. Even earlier research includes force, impedance and damping control of robots, cyclogram of human gait. Ambarish introduced the following concepts in humanoid robots: foot rotation indicator (FRI) point, centroidal moment pivot (CMP), centroidal momentum matrix (CMM), reaction mass pendulum (RMP) model, inertia shaping techniques. Ambarish favors the idea of using angular momentum based techniques for biped robot control. This page also contains Ambarish Goswami's large collection of autographs of prominent musicians, performers, authors, and ...
- Meta Keywords
- Ambarish Goswami, biped robot, humanoid robot, robotics, compass gait, passive gait, passive robotics, passive dynamic walking, gait symmetry, force assembly, force control, impedance control, damping control, cyclogram, human gait, balance, postural stability, push recovery, capture point, angular momentum, angular momentum rate change, FRI point, foot rotation indicator point, ZRAM point, zero rate of change of angular momentum, CMP, centroidal moment pivot, RMP, reaction mass pendulum, centroidal angular momentum, simple biped models, exoskeleton, lower extremity, active impedance, negative impedance, inertia shaping, centroidal momentum matrix, general foot placement estimator (GFPE) point, vehicle control, backing up, ADAS, Control Moment Gyroscope, Autonomous Vehicles