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ambarish.com: Homepage of Ambarish Goswami
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 soccer (football) players of Calcutta (Kolkata) and India.
Ambarish.com ~
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