Publications by Mostafa Ajallooeian

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Animals are able to locomote on rough terrain without any apparent difficulty, but this does not mean that the locomotor system is simple. The locomotor system is actually a complex multi-input multi-output closed-loop control system. This thesis is dedica ...

: On the hardware level, we are proposing and testing a bio-inspired quadruped robot design (Oncilla robot), based on light-weight, compliant, and three-segmented legs. Our choice of placing the compliance such that it is spanning two joints enforces a non ...

We present robot design and results from locomotion experiments with a novel, compliant quadruped robot: Cheetah-cub. The robot's leg configuration is based on a spring-loaded, panthograph-mechanism with multiple segments. A dedicated open-loop, joint-spac ...

In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were impl ...

In this paper we present a closed-loop optimal control approach for the online control of a legged robot locomotion, particularly the hopping of a simulated monoped robot. Modeling is done based on the spring loaded inverted pendulum (SLIP) model suggested ...

This work explores the use of active tails for steady-state legged-locomotion. Simple models are proposed which capture the dynamics of an idealized running system with an active tail. Analysis suggests that the control objectives of injecting energy into ...

We present a general family of nonlinear phase oscillators which can exhibit arbitrary limit cycle shapes and infinitely large basins of attraction. This general family is the superset of familiar control methods like PD-control over a periodic reference, ...

This work explores the possible roles of active tails for steady-state legged-locomotion. A series of simple models are proposed which capture the dynamics of an idealized running system with an active tail. The models suggest that the control objectives o ...

We present a general approach to design modular controllers for limit cycle locomotion over unperceived rough terrain. The control strategy uses a Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators as basis. Stumbling correc ...

Mostafa Ajallooeian

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Pattern Generation for Rough Terrain Locomotion with Quadrupedal Robots : Morphed Oscillators & Sensory Feedback

Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain

Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot

Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs

A Closed-Loop Optimal Control Approach for Online Control of A Planar Monopod Hopper

On Designing An Active Tail For Body-Pitch Control In Legged Robots Via Decoupling Of Control Objectives

A General Family of Morphed Nonlinear Phase Oscillators with Arbitrary Limit Cycle Shape

On Designing an Active Tail for Legged Robots: Simplifying Control via Decoupling of Control Objectives

Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain

Central Pattern Generators Augmented with Virtual Model Control for Quadruped Rough Terrain Locomotion

Simplifying Control through Active Tail Use