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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 paper, a full dynamic model of SURENA III in different walking phases including heel-off and heel-strike motions is presented. To this end, first a trajectory planning method based on robot kinematics is introduced. Then, the multi-body...
This paper focuses on the developing a regression model which describes linear and nonlinear behaviors of the robots. Several techniques of system identification such as AutoRegression Moving Average Exogenous Input (ARMAX), Nonlinear ARMAX (NARMAX), and Least Square (LS) method are used to develop the mentioned model. Recursive LS (RLS) with forgetting factor is employed to illustrate the convergence...
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