Ph.D Thesis
- Trajectory Planning using Stable Central Pattern Generator for Bipedal Robot Locomotion (present)
- Force and Position Control of Redundant Robots in Multiple Interactions with Environment or Human (2013-2018)
- Observer and Observer-based Controller Design in underwater Robots (2010-2016)
- Analysis and Slippage Control in Soft Finger Grasping and Manipulation (2009-2015)
- Position and Force Control of Robotic Systems based on Joint Velocity, Parametric Uncertaities and Current of Motors Estimation (2010-2015)
- Multi-Priority Control in Redundant Robotic Systems: an Application to Physical Human-Robot Interaction (2007-2013)
- Dynamic and Control of Systems with Interior Drivers and Non-Holonomic Constraints Specially Sphere Robot in the View of Geometrical Mechanic along with Experimental Implementation (2002-2013)
- Optimal Path Planing to Minimize Vibration for Flexible Redundant Planar Robot Manipulators (2001-2009)
- Dynamic Analysis and Control Synthesis of Object Grasping by Planar Cooperating Manipulators in the Presence of Uncertainty (2000-2008)
- Adaptive Control of Robotic Arm in the Presence of Uncertainty and Unknown External Disturbance (1999-2006)
M.Sc Thesis
- Robot Interaction Control during a Visually Guided Task (Present)
- Development and Real-time Implementation of SAM Method based on the Camera s Sensor Data in Simultaneously Locating and Mapping of a Mobile Robot (2012-2015)
- Path Planning and Control of a Cable Continuous Robot with Three Members with Fixed and Variable Length (2012-2015)
- Guidance, Navigation and Control of a Wheeled Mobile Robot in a Dynamic Environment using SLAM Algorithms: Theoretical Study and Practical Implementation (2012-2015)
- Error Detection and Motion Recovery in a 6-DOF Parallel Robot with Rotational Actuators (2012-2015)
- Modification and Implementation of Fast SLAM Method in Simultaneous Locating and Mapping of a Mobile Robot (2011-2014)
- Dynamic Analysis and Control Synthesis of a Space Tethered Robot System (2011-2014)
- Modification and Implementation of EKF-SLAM Method using IMU Data for a Mobile Robot (2010-2013)
- Dynamic Analysis and Control Design of Underwater Robot (2010-2013)
- Stability Control of Biped Robots (2009-2012)
- Design and Construction of Continuous Robot and Position Control of end effector and Validation through Machine Vision (2009-2012)
- Spatial Dynamic Modeing and Motion Control of an Under-actuated Mobile Robot with Spherical Base (2009-2012)
- Optimal Path Planning for a Redundant Robotic System (2009-2011)
- Dynamic and Control Analysis of Continuous 3 Particle Robot Constructed with Superelastic Alloy (2009-2012)
- Sliding Mode and Adaptive Sliding Mode Control of a 6DOF Moving Simulator Parallel Robot with Rotary Actuators (2008-2011)
- Genetic Algorithm based Fuzzy Control Design for a 6DOF Moving Simulator Parallel Robot with Rotary Actuators (2008-2011)
- Design and Adaptive Control of a Multi-purpose Wheeled Moving Mechanical Arm (2008-2011)
- Modeling and Controller Design for a Finger aith Shape Memory alloy (2008-2011)
- Design of a Robust Fuzzy Control for Hybrid Position and Force Control of a Mechanical Arm (2008-2011)
- Design of a Velocity Observer and Observer based Controller for Robotic Systems (2007-2010)
- Parametric and Systemic Identification of a two Linked Robot (2007-2010)
- Path Planing and Visual Feedback Control of a Serial Robot in Dynamic Environment (2006-2009)
- Design and Control of the Process of Moving Object using Cooperative Planar Arms Based on Visual Command Control (2006-2009)
- Design and Implementation of Adaptive Fuzzy Control for a 3DOF Parallel Robot (2006-2009)
- Dynamic and Control Analysis of Grasping and Object Slippage in Cooperative Arms Considering the Geometry of Claws (2006-2009)
- Design, Manufacture and Control of Greenhous Tomato Harvesting Laboratory Robot (2005-2008)
- Design of Driving System for a Cooperative Robotic System; Numerical and Experimental Study (2005-2008)
- Stability and Control Synthesis of a Biped Robot (2003-2006)
- Study Failure in the Stewart Robot with Rotational Drivers (2003-2006)
- Dynamic and Control Analysis of Stewart Mechanism with Rotational Drivers (2003-2006)
- Optimum Path Planning of Kinematically Redundant Manipulators using Jenetic Algorithm (2002-2005)
- Optimal Path Planning in the Presence of Obstacle (2001-2004)
- Analysis of Dynamic and Control of Cooperative Robotic Systems in Grasping Manipulation (2001-2002)
- Study Cooperative Robotics System Failure (2001-2002)
- Analysis the effect of Separate and Integrated Control on Cooperative Robots with Mobile Platform (2000-2001)
- Optimal Path Planning of Redundant Cooperative Robots (2000-2001)
- Effects of Measuring Systems in the Stewart Platform Mechanism (1999-2000)
- Automation Synthesis and Design of Product Line Robot of Antenna (1998-1999)