A. Mounir Boudali — accepted AI-conference papers

2019

Modelling of Uniaxial EGaIn-Based Strain Sensors for Proprioceptive Sensing of Soft Robots

Abdullah Al-Azzawi, A. Mounir Boudali, He Kong, Ali H. Göktoğan, Salah Sukkarieh

IROS 2019poster

Soft strain resistive sensors based on eutectic gallium-indium liquid metal can play an important role in proprioceptive sensing for soft robots. However, there are no available mathematical models to accurately estimate the strain as a function of the measured resistance. Furthermore, non-uniform s…

Cited by 6 Source ↗Scholar ↗

2017

Invariant funnels for underactuated dynamic walking robots: New phase variable and experimental validation

Justin Z. Tang, A. Mounir Boudali, Ian R. Manchester

ICRA 2017poster

We address the problem of finding useful invariant funnels for dynamic walking robots, i.e. sets of initial conditions from which continued walking in a stable manner is guaranteed. The construction is based on transverse dynamics and sum-of-squares verification. This paper makes two main contributi…

Cited by 22 Source ↗Scholar ↗