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ambarish.com: Homepage of Ambarish Goswami
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
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 fo
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