Simulating Ideal Assistive Devices to Reduce the Metabolic Cost of Running

Thomas K. Uchida, Ajay Seth, Soha Pouya, +3

PLoS ONE

Physical ActivityWearable TechnologyMotor ControlMetabolic CostIdeal Assistive Devices +21

Roombots: Reconfigurable Robots for Adaptive Furniture

Alexander Badri–Spröwitz, Soha Pouya, Stéphane Bonardi, +5

IEEE Computational Intelligence Magazine

Robot KinematicsEngineeringRobotic AgentField RoboticsIntelligent Robotics +19

Versatile and robust 3D walking with a simulated humanoid robot (Atlas): A model predictive control approach

Salman Faraji, Soha Pouya, Christopher G. Atkeson, +1

Robot KinematicsEngineeringField RoboticsMotor ControlKinesiology +19

Central Pattern Generators augmented with virtual model control for quadruped rough terrain locomotion

Mostafa Ajallooeian, Soha Pouya, Alexander Sproewitz, +1

EngineeringField RoboticsMotor ControlVirtual Model ControlQuadruped Locomotion +18

Spinal joint compliance and actuation in a simulated bounding quadruped robot

Soha Pouya, Mohammad Khodabakhsh, Alexander Badri–Spröwitz, +1

Autonomous Robots

Bipedal LocomotionSpinal Joint ComplianceRehabilitation RoboticsRobot KinematicsKinesiology +10

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Salman Faraji, Soha Pouya, Auke Jan Ijspeert

Automatic gait generation in modular robots: “to oscillate or to rotate; that is the question”

Soha Pouya, Jesse van den Kieboom, Alexander Badri–Spröwitz, +1

Robotic SystemsOscillatory MovementsEngineeringBioroboticsMechanical Engineering +23

Gait optimization for roombots modular robots — Matching simulation and reality

Rico Moeckel, Yura Perov, Anh Nguyen, +7

Robot KinematicsRobotic SystemsEngineeringField RoboticsIntelligent Robotics +22

Role of Spine Compliance and Actuation in the Bounding Performance of Quadruped Robots

Soha Pouya, Mohammad Khodabakhsh, Rico Möckel, +1

Infoscience (Ecole Polytechnique Fédérale de Lausanne)

Robot KinematicsEngineeringQuadruped RobotsNovel Dynamics ModelMechanical Engineering +21

Compliant and adaptive control of a planar monopod hopper in rough terrain

Salman Faraji, Soha Pouya, Rico Moeckel, +1

Robot KinematicsEngineeringField RoboticsFlying RobotRough Terrain +18