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Omid Mohseni

7 accepted papers

2025

Bridge the Gap: Enhancing Quadruped Locomotion with Vertical Ground Perturbations

Maximilian Stasica, Arne Bick, Nico Bohlinger, Omid Mohseni, Max Johannes Alois Fritzsche, Clemens Hübler +2
IROS 2025

Legged robots, particularly quadrupeds, excel at navigating rough terrains, yet their performance under vertical ground perturbations, such as those from oscillating surfaces, remains underexplored. This study introduces a novel approach to enhance quadruped locomotion robustness by training the Uni

Cited by 2Source ↗Scholar ↗
2025

Concerted Control: Modulating Joint Stiffness Using GRF for Gait Generation At Different Speeds

Shunsuke Koseki, Omid Mohseni, Dai Owaki, Mitsuhiro Hayashibe, André Seyfarth, Maziar Ahmad Sharbafi
RA-L 2025

This letter proposes a bio-inspired, simple, and easy-to-implement walking controller, termed <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Concerted Control</i>, which leverages a shared common signal to coordinate movements across multiple joints

Cited by 3Source ↗Scholar ↗
2025

Exploring the Virtual Pivot Point in Unilateral Transfemoral Amputee Locomotion: Implications for Prosthetic Development

Omid Mohseni, Serajeddin Ebrahimian, Vahid Firouzi, Morteza Khosrotabar, Mario Kupnik, Maziar Ahmad Sharbafi +1
IROS 2025

The virtual pivot point (VPP), a theoretical convergence point of ground reaction forces during gait, has gained attention for its potential to uncover underlying locomotor control strategies. Here, we present the first investigation of VPP in individuals with unilateral above-knee amputation, using

Cited by 2Source ↗Scholar ↗
2025

Morphological Computation in Robotic Hopping: The Role of Monoarticular and Biarticular Muscle Configurations

Marc Murcia, Omid Mohseni, André Seyfarth, Gregory S. Sawicki, Maziar Ahmad Sharbafi
IROS 2025

Human locomotion exhibits extraordinary adaptability and robustness, yet the mechanisms by which lower limbs adjust to sudden environmental disruptions remain poorly understood. To address this, we employed the bioinspired human-sized EPA-Hopper II robot to examine how lower-limb joints recover from

Cited by 0Source ↗Scholar ↗
2022

Vastus and Gastrocnemius improve hopping efficiency and joints synchronicity at different frequencies: a robotic study

Omid Mohseni, Patrick Schmidt, Andre Seyfarth, Maziar A. Sharbafi
IROS 2022poster

The lower limb morphology of biological locomotors is abundant in muscle-tendon units. Yet, not much is known about how these actuation units contribute to the output performance and energy economy of movements. In this work, we investigate the functionality of four of the important lower limb muscl…

Cited by 3Source ↗Scholar ↗
2021

Adjustable Compliance and Force Feedback as Key Elements for Stable and Efficient Hopping

Rustam Galljamov, Arjang Ahmadi, Omid Mohseni, André Seyfarth, Philipp Beckerle, Maziar Ahmad Sharbafi
RA-L 2021

Achieving efficient and human-like hopping motions with consistent consecutive patterns requires proper mechanical design and control. In this regard, we introduce a new bioinspired design and control approach comprised of a hybrid actuation system and force-based compliance control. Combining an el

Cited by 9Source ↗Scholar ↗
2020

How far are Pneumatic Artificial Muscles from biological muscles?

Omid Mohseni, Ferréol Gagey, Gouping Zhao, Andre Seyfarth, Maziar A. Sharbafi
ICRA 2020poster

There is a long history demonstrating humans' tendency to create artificial copies of living creatures. For moving machines called robots, actuators play a key role in developing human-like movements. Among different types of actuation, PAMs (pneumatic artificial muscles) are known as the most simil…

Cited by 17Source ↗Scholar ↗