![Seyed Amir Tafrishi BSc(Eng), MSc(Eng), PhD, FHEA](https://profiles-cardiff.imgix.net/attachments/3927?w=200&h=200&auto=format&crop=faces&fit=crop&q=90")
Dr Seyed Amir Tafrishi
BSc(Eng), MSc(Eng), PhD, FHEA
- Ar gael fel goruchwyliwr ôl-raddedig
Timau a rolau for Seyed Amir Tafrishi
Darlithydd mewn Roboteg a Systemau Ymreolaethol
Trosolwyg
Mae Dr Seyed Amir Tafrishi yn Ddarlithydd mewn Roboteg a Systemau Ymreolaethol yn Ysgol Beirianneg Prifysgol Caerdydd, y DU. Ef yw Pennaeth a Sylfaenydd Labordy Mecaneg Geometrig a Mecatroneg mewn Roboteg (gm²R). Hefyd, mae'n aelod academaidd craidd o'r grŵp Roboteg a Pheiriannau Deallus Ymreolaethol (RAIM).
Yn flaenorol, roedd yn Athro Cynorthwyol Penodedig yn Arbennig yn Labordy Dylunio Robotiaid Clyfar yn yr Adran Roboteg, Prifysgol Tohoku Japan. Gweithiodd yn y grŵp Adaptable AI-enabled Robots to Create Vibrant Societies fel rhan o brosiect ymchwil a datblygu Moonshota gychwynnwyd gan Lywodraeth Japan. Nod y prosiect oedd datblygu robotiaid cynorthwyol a chydweithredol ar gyfer cyfleusterau lles yn y dyfodol. Cynigiwyd cysyniad newydd o ymreolaeth a rennir o dan gyfyngiadau diogelwch rhwng rhyngweithio dynol a robot. Hefyd, roedd cyflawniadau eraill ym meysydd actuators sy'n cydymffurfio â chymorth a meintioli diogelwch.
Derbyniodd ei PhD o Adran Peirianneg Fecanyddol, Prifysgol Kyushu, Fukuoka, Japan. Gwnaeth ei astudiaethau M.Sc mewn Peirianneg Systemau Rheoli yn yr Adran Rheoli Awtomatig a Pheirianneg Systemau, Prifysgol Sheffield, Sheffield, y Deyrnas Unedig.
Ers 2015, mae wedi bod yn ymchwilydd gwadd yn y Grŵp Ymchwil Systemau Ymreolaethol a Roboteg, Sheffield, y DU, Labordy Mecatronig ym Mhrifysgol Dechnegol y Dwyrain Canol, Twrci, Labordy Mecaneg Hylif ym Mhrifysgol Tabriz; a'r Labordy Peirianneg Rheoli ym Mhrifysgol Kyushu.
Nodi: Cyfeiriwch at fy nhudalen we am fwy o fanylion
Agoriadau cyfredol:
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Ymgeisydd PhD, Dylunio a Rheoli Fingertips Agile ar gyfer Trin Deheuig (cau cyn gynted ag y bydd ymgeisydd addas yn cael ei ddarganfod)
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Ymgeisydd PhD, Dylunio Actuators Hybrid Cydymffurfiol ar gyfer Defnydd Amryddawn mewn Roboteg Symudol (cau cyn gynted ag y canfyddir ymgeisydd addas)
Cyhoeddiad
2025
- Liu, Z. and Tafrishi, S. A. 2025. MonoRollBot: 3-DOF spherical robot with underactuated single compliant actuator design. Presented at: IEEE 8th International Conference on Soft Robotics (RoboSoft), Lausanne, Switzerland, 22-26 April 20262025 IEEE 8th International Conference on Soft Robotics (RoboSoft). IEEE, (10.1109/robosoft63089.2025.11020911)
2024
- Krysov, M. and Tafrishi, S. A. 2024. Development of Underactuated Geometric Compliant (UGC) module with variable radial for robotic applications. Presented at: Annual Conference Towards Autonomous Robotic Systems, London, UK, 21-23 August 2024 Presented at Huda, M., Wang, M. and Kalganova, T. eds.Towards Autonomous Robotic Systems, Vol. 15052. Lecture Notes in Computer Science Cham, Switzerland: Springer pp. 195-207., (10.1007/978-3-031-72062-8_18)
- Wiltshire, O. and Tafrishi, S. A. 2024. Design and motion analysis of a reconfigurable pendulum-based rolling disk tobot with magnetic coupling. Presented at: Annual Conference Towards Autonomous Robotic Systems, London, UK, 21-23 August 2024 Presented at Huda, M., Wang, M. and Kalganova, T. eds.Towards Autonomous Robotic Systems, Vol. 15052. Lecture Notes in Computer Science Cham, Switzerland: Springer pp. 208-219., (10.1007/978-3-031-72062-8_19)
- Murase, S., Manríquez, R., Tafrishi, S. A., Ankit, R., Victorio, S. L. J. and Hirata, Y. 2024. Estimation of the direction of travel using a wireless IMU for route switching in a rail-type walking support system. Presented at: Robotics and Mechatronics Lecture 2024, Japan, 29 May - 01 June 2024, Vol. 2024. Vol. 0. Japan Society of Mechanical Engineers pp. 2A2-I05., (10.1299/jsmermd.2024.2a2-i05)
- Terayama, J., Ravankar, A. A., Luces, J. V. S., Tafrishi, S. A. and Hirata, Y. 2024. Concept and prototype development of adaptive touch walking support robot for maximizing human physical potential. IEEE Robotics and Automation Letters 9(8), pp. 6935-6942. (10.1109/LRA.2024.3415928)
- Krysov, M. and Tafrishi, S. A. 2024. Design and implementation of novel underactuated geometric compliant (UGC) robotic modules with resizable bodies. Presented at: 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands, 23-26 September 2024.
- Wiltshire, O. and Tafrishi, S. A. 2024. A reconfigurable rolling mobile robot with magnetic coupling as new non-prehensile manipulation problem. Presented at: 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands, 23-26 September 2024.
- Wen, Q., Tafrishi, S. A., Ji, Z. and Lai, Y. 2024. Defining the ideal criteria for stable skeletonisation in object point clouds. Presented at: 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands, 23-26 September 2024.
- Wen, Q., Tafrishi, S., Ji, Z. and Lai, Y. 2024. What criteria define an ideal skeletonisation reference in object point clouds?. Presented at: TAROS (Towards Autonomous Robotic Systems), London, UK, 21-23 August 2024.
- Wen, Q., Tafrishi, S. A., Ji, Z. and Lai, Y. 2024. GLSkeleton: A geometric Laplacian-based skeletonisation framework for object point clouds. IEEE Robotics and Automation Letters 9(5), pp. 4615-4622. (10.1109/LRA.2024.3384128)
- Tafrishi, S. ., Ravankar, A. A. and Hirata, Y. 2024. Safety for human-robot Interaction with a shared autonomy. Presented at: Cardiff University Engineering Research Conference, Cardiff, UK, 12-14 July 2023 Presented at Spezi, E. and Bray, M. eds.Proceedings of the Cardiff University Engineering Research Conference. Cardiff University Press pp. 91-95., (10.18573/conf1.v)
- Tafrishi, S. A. and Hirata, Y. 2024. SPIRO: A compliant spiral spring-damper joint actuator with energy-based-sliding-mode controller. IEEE/ASME Transactions on Mechatronics 29(2), pp. 947-959. (10.1109/TMECH.2023.3346278)
- Mavinkurve, U., Kanada, A., Tafrishi, S. A., Honda, K., Nakashima, Y. and Yamamoto, M. 2024. Geared rod-driven continuum robot with woodpecker-inspired extension mechanism and IMU-based force sensing. IEEE Robotics and Automation Letters 9(1), pp. 135-142. (10.1109/LRA.2023.3331650)
2023
- Tafrishi, S. A., Svinin, M., Yamamoto, M. and Hirata, Y. 2023. A geometric motion planning for a spin-rolling sphere on a plane. Applied Mathematical Modelling 121, pp. 542-561. (10.1016/j.apm.2023.05.009)
- Rayamane, P., Munguia Galeano, F., Tafrishi, S. A. and Ji, Z. 2023. Towards smooth human-robot handover with a vision-based tactile sensor. Presented at: Annual Conference Towards Autonomous Robotic Systems, 13-15 September 2023 Presented at Iida, F. et al. eds.TAROS 2023: Towards Autonomous Robotic Systems. Lecture Notes in Computer Science book series Vol. 14136. Cham, Switzerland: Springer pp. 431-442., (10.1007/978-3-031-43360-3_35)
- Dong, Z., Luces, J. V. S., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2023. A performance evaluation of overground gait training with a mobile body weight support system using wearable sensors. IEEE Sensors Journal 23(11), pp. 12209-12223. (10.1109/JSEN.2023.3269031)
- Revankar, A., Tafrishi, S. A., Salazar Luces, J. V., Seto, F. and Hirata, Y. 2023. CARE: cooperation of AI-robot enablers to create a vibrant society. IEEE Robotics and Automation Magazine 30(1), pp. 8-23. (10.1109/MRA.2022.3223256)
- Hirata, Y., Salazar Luces, J. V., Ravanakr, A. A. and Tafrishi, S. A. 2023. Cooperation of assistive robots to improve productivity in the nursing care field. Presented at: International Symposium on Robotics and Research ISRR 2022, Geneva, Switzerland, 1/11/2022 Presented at Billard, A., Asfour, T. and Khatib, O. eds.Proceedings of Robotics Research: ISRR 2022, Vol. 27. Springer Proceedings in Advanced Robotics Springer pp. 287–294., (10.1007/978-3-031-25555-7_19)
- Aoki, G., Luces, J. V. S., Tafrishi, S. A., Ravankar, A. A. and Hirata, Y. 2023. Nursing care teaching system based on mixed reality for effective caregiver-patient interaction. Presented at: 2023 IEEE/SICE International Symposium on System Integration (SII), Atlanta, GA, USA, 17-20 January 20232023 IEEE/SICE International Symposium on System Integration (SII). IEEE, (10.1109/SII55687.2023.10039419)
- Chikhalikar, A., Ankit A., R., Salazar, J., Tafrishi, S. A. and Yasuhisa, H. 2023. An object-oriented navigation strategy for service robots leveraging semantic information. Presented at: 2023 IEEE/SICE International Symposium on System Integration, Atlanta, USA, 17-20 January 20232023 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 1-6., (10.1109/SII55687.2023.10039409)
2022
- Dong, Z., Salazar Luces, J. V., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2022. Development of an autonomous mobile robot for passive welfare object transportation. Presented at: The Proceedings of JSME Annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. pp. 2A2-B06., (10.1299/jsmermd.2022.2A2-B06)
- Aoki, G., Luces, J. V. S., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2022. Nursing care teaching system using mixed reality technology. Presented at: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. pp. 2P2-G07., (10.1299/jsmermd.2022.2P2-G07)
- Ravankar, A. A., Ravankar, A., Salazar Luces, J. V., Tafrishi, S. A. and Hirata, Y. 2022. Simulation-based mobile robot navigation for precision agriculture monitoring application. Presented at: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. pp. 1P1-A08., (10.1299/jsmermd.2022.1P1-A08)
- Terayama, J., Tafrishi, S. A., Ravankar, A. A., Luces, J. V. S. and Hirata, Y. 2022. Development of non-wearable walking assist robot for preventing falling accident. Presented at: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. JSME pp. 2A2-C06., (10.1299/jsmermd.2022.2A2-C06)
- Ravankar, A. A., Ravankar, A., Tafrishi, S. A., Salazar Luces, J. V. and Hirata, Y. 2022. Robot path planning in narrow environments using improved roadmap sampling. Presented at: The Proceedings of JSME Annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. JSME pp. 2P2-M03., (10.1299/jsmermd.2022.2P2-M03)
- Tafrishi, S. A., Dai, X., Hirata, Y. and Burns, A. 2022. Discretization and stabilization of energy-based controller for period switching control and flexible scheduling. Presented at: 2022 American Control Conference (ACC), Atlanta, USA, 08-10 June 20222022 American Control Conference (ACC). IEEE pp. 844-849., (10.23919/ACC53348.2022.9867252)
- Promsutipong, K., Luces, J. V. S., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2022. Immersive virtual walking system using an avatar robot. Presented at: 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 23-27 May 20222022 International Conference on Robotics and Automation (ICRA). IEEE pp. 9325-9331., (10.1109/ICRA46639.2022.9811588)
- Tafrishi, S. A., Ravankar, A. A., Luces, J. V. S. and Hirata, Y. 2022. A novel assistive controller based on differential geometry for users of the differential-drive wheeled mobile robots. Presented at: 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 23-27 May 20222022 International Conference on Robotics and Automation (ICRA). IEEE, (10.1109/ICRA46639.2022.9811593)
- Tafrishi, S. A., Ravankar, A. A., Salazar Luces, J. V. and Hirata, Y. 2022. A geometric assistive controller for the users of wheeled mobile robots without desired states. Presented at: 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO), Sanya, China, 27-31 December 20212021 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE pp. 1953-1959.
- Hertenberg, K., Luces, J. V. S., Tafrishi, S. A., Ravankar, A. A., Hirata, Y., BookGroupAuthors, . and IEEE, . 2022. Evaluation of an avatar robot with a physically immersive telepresence. Presented at: 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Sanya, China, 27-31 December 20212021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. IEEE pp. 99-104., (10.1109/ROBIO54168.2021.9739326)
2021
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2021. Darboux-frame-based parametrization for a spin-rolling sphere on a plane: A nonlinear transformation of underactuated system to fully-actuated model. Mechanism and Machine Theory 164, article number: 104415. (10.1016/j.mechmachtheory.2021.104415)
- Mavinkurve, U. K., Tafrishi, S. A., Kanada, A., Honda, K., Nakashima, Y. and Yamamoto, M. 2021. An experimental study on energy-based control of rigid parallel series elastic actuator. Presented at: 2021 World Automation Congress (WAC), Taipei, Taiwan, 01-05 August 20212021 World Automation Congress (WAC). IEEE, (10.23919/WAC50355.2021.9559477)
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2021. Inverse dynamics of underactuated planar manipulators without inertial coupling singularities. Multibody System Dynamics 52(4), pp. 407-429. (10.1007/s11044-021-09788-8)
- Tafrishi, S. A., Dai, X. and Kandjani, V. E. 2021. Line-Circle-Square (LCS): a multilayered geometric filter for edge-based detection. Robotics and Autonomous Systems 137, article number: 103732. (10.1016/j.robot.2021.103732)
- Mavinkurve, U. K., Tafrishi, S. A., Kanada, A. and Yamamoto, M. 2021. An energy based control for vibration suppression in a rigid parallel series elastic actuator. Presented at: 2021 IEEE/SICE International Symposium on System Integration (SII), Iwaki, Fukushima, Japan, 11-14 January 20212021 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 600-605.
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2021. A motion estimation filter for inertial measurement unit with on-board ferromagnetic materials. IEEE Robotics and Automation Letters 6(3), pp. 4939-4946. (10.1109/LRA.2021.3067301)
2020
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2020. Singularity-free inverse dynamics for underactuated systems with a rotating mass. Presented at: 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 31 May - 31 August 20202020 IEEE International Conference on Robotics and Automation (ICRA). IEEE pp. 3981-3987., (10.1109/ICRA40945.2020.9197306)
2019
- Babayan, M., Tabatabaee-Hosseini, P., Esmaeilzadeh Kandjani, N., Tafrishi, S. A., Jafari, M. and Esmaeilzadeh, E. 2019. Experimental investigation of flow and coherent properties of excited non-circular liquid jets. Journal of Applied Fluid Mechanics 12(5), pp. 1667-1681. (10.29252/jafm.12.05.29453)
- Tafrishi, S., Esmaeilzadeh, E., Svinin, M. and Yamamoto, M. 2019. A fluid-actuated driving mechanism for rolling robots. Presented at: 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM), Toyonoka, Japan, 03-05 July 20192019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE, (10.1109/ICARM.2019.8833646)
- Tafrishi, S. A., Svinin, M., Esmaeilzadeh, E. and Yamamoto, M. 2019. Design, modeling, and motion analysis of a novel fluid actuated spherical rolling robot. Journal of Mechanisms And Robotics-Transactions of the ASME 11(4), article number: 41010. (10.1115/1.4043689)
- Tafrishi, S. A., Bai, Y., Svinin, M., Esmaeilzadeh, E. and Yamamoto, M. 2019. Inverse dynamics-based motion control of a fluid-actuated rolling robot. Nelineinaya Dinamika 15(4) (10.20537/nd190420)
2018
- Tafrishi, S. A. and Kandjani, V. E. 2018. Line-circle: a geometric filter for single camera edge-based object detection. Presented at: 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), Tehran, Iran, 25-27 October 20172017 5th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE, (10.1109/ICRoM.2017.8466193)
- Esmaeilzadeh Kandjani, N., Nurelahi, S., Tafrishi, S. A. and Esmaeilzadeh, E. 2018. Numerical study of chip cooling with internal nanofluid in minichannels and external air flow over sink with laminar regimes. Micro and Nano Letters 13(8), pp. 1105-1110. (10.1049/mnl.2018.0036)
2017
- Tafrishi, S. A., Svinin, M. and Esmaeilzadeh, E. 2017. Effects of the slope on the motion of spherical RollRoller robot. Presented at: 2016 IEEE/SICE International Symposium on System Integration (SII), Sapporo, Japan, 13-15 December 20162016 IEEE/SICE International Symposium on System Integration (SII). IEEE, (10.1109/SII.2016.7844110)
Cynadleddau
- Liu, Z. and Tafrishi, S. A. 2025. MonoRollBot: 3-DOF spherical robot with underactuated single compliant actuator design. Presented at: IEEE 8th International Conference on Soft Robotics (RoboSoft), Lausanne, Switzerland, 22-26 April 20262025 IEEE 8th International Conference on Soft Robotics (RoboSoft). IEEE, (10.1109/robosoft63089.2025.11020911)
- Krysov, M. and Tafrishi, S. A. 2024. Development of Underactuated Geometric Compliant (UGC) module with variable radial for robotic applications. Presented at: Annual Conference Towards Autonomous Robotic Systems, London, UK, 21-23 August 2024 Presented at Huda, M., Wang, M. and Kalganova, T. eds.Towards Autonomous Robotic Systems, Vol. 15052. Lecture Notes in Computer Science Cham, Switzerland: Springer pp. 195-207., (10.1007/978-3-031-72062-8_18)
- Wiltshire, O. and Tafrishi, S. A. 2024. Design and motion analysis of a reconfigurable pendulum-based rolling disk tobot with magnetic coupling. Presented at: Annual Conference Towards Autonomous Robotic Systems, London, UK, 21-23 August 2024 Presented at Huda, M., Wang, M. and Kalganova, T. eds.Towards Autonomous Robotic Systems, Vol. 15052. Lecture Notes in Computer Science Cham, Switzerland: Springer pp. 208-219., (10.1007/978-3-031-72062-8_19)
- Murase, S., Manríquez, R., Tafrishi, S. A., Ankit, R., Victorio, S. L. J. and Hirata, Y. 2024. Estimation of the direction of travel using a wireless IMU for route switching in a rail-type walking support system. Presented at: Robotics and Mechatronics Lecture 2024, Japan, 29 May - 01 June 2024, Vol. 2024. Vol. 0. Japan Society of Mechanical Engineers pp. 2A2-I05., (10.1299/jsmermd.2024.2a2-i05)
- Krysov, M. and Tafrishi, S. A. 2024. Design and implementation of novel underactuated geometric compliant (UGC) robotic modules with resizable bodies. Presented at: 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands, 23-26 September 2024.
- Wiltshire, O. and Tafrishi, S. A. 2024. A reconfigurable rolling mobile robot with magnetic coupling as new non-prehensile manipulation problem. Presented at: 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands, 23-26 September 2024.
- Wen, Q., Tafrishi, S. A., Ji, Z. and Lai, Y. 2024. Defining the ideal criteria for stable skeletonisation in object point clouds. Presented at: 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands, 23-26 September 2024.
- Wen, Q., Tafrishi, S., Ji, Z. and Lai, Y. 2024. What criteria define an ideal skeletonisation reference in object point clouds?. Presented at: TAROS (Towards Autonomous Robotic Systems), London, UK, 21-23 August 2024.
- Tafrishi, S. ., Ravankar, A. A. and Hirata, Y. 2024. Safety for human-robot Interaction with a shared autonomy. Presented at: Cardiff University Engineering Research Conference, Cardiff, UK, 12-14 July 2023 Presented at Spezi, E. and Bray, M. eds.Proceedings of the Cardiff University Engineering Research Conference. Cardiff University Press pp. 91-95., (10.18573/conf1.v)
- Rayamane, P., Munguia Galeano, F., Tafrishi, S. A. and Ji, Z. 2023. Towards smooth human-robot handover with a vision-based tactile sensor. Presented at: Annual Conference Towards Autonomous Robotic Systems, 13-15 September 2023 Presented at Iida, F. et al. eds.TAROS 2023: Towards Autonomous Robotic Systems. Lecture Notes in Computer Science book series Vol. 14136. Cham, Switzerland: Springer pp. 431-442., (10.1007/978-3-031-43360-3_35)
- Hirata, Y., Salazar Luces, J. V., Ravanakr, A. A. and Tafrishi, S. A. 2023. Cooperation of assistive robots to improve productivity in the nursing care field. Presented at: International Symposium on Robotics and Research ISRR 2022, Geneva, Switzerland, 1/11/2022 Presented at Billard, A., Asfour, T. and Khatib, O. eds.Proceedings of Robotics Research: ISRR 2022, Vol. 27. Springer Proceedings in Advanced Robotics Springer pp. 287–294., (10.1007/978-3-031-25555-7_19)
- Aoki, G., Luces, J. V. S., Tafrishi, S. A., Ravankar, A. A. and Hirata, Y. 2023. Nursing care teaching system based on mixed reality for effective caregiver-patient interaction. Presented at: 2023 IEEE/SICE International Symposium on System Integration (SII), Atlanta, GA, USA, 17-20 January 20232023 IEEE/SICE International Symposium on System Integration (SII). IEEE, (10.1109/SII55687.2023.10039419)
- Chikhalikar, A., Ankit A., R., Salazar, J., Tafrishi, S. A. and Yasuhisa, H. 2023. An object-oriented navigation strategy for service robots leveraging semantic information. Presented at: 2023 IEEE/SICE International Symposium on System Integration, Atlanta, USA, 17-20 January 20232023 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 1-6., (10.1109/SII55687.2023.10039409)
- Dong, Z., Salazar Luces, J. V., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2022. Development of an autonomous mobile robot for passive welfare object transportation. Presented at: The Proceedings of JSME Annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. pp. 2A2-B06., (10.1299/jsmermd.2022.2A2-B06)
- Aoki, G., Luces, J. V. S., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2022. Nursing care teaching system using mixed reality technology. Presented at: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. pp. 2P2-G07., (10.1299/jsmermd.2022.2P2-G07)
- Ravankar, A. A., Ravankar, A., Salazar Luces, J. V., Tafrishi, S. A. and Hirata, Y. 2022. Simulation-based mobile robot navigation for precision agriculture monitoring application. Presented at: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. pp. 1P1-A08., (10.1299/jsmermd.2022.1P1-A08)
- Terayama, J., Tafrishi, S. A., Ravankar, A. A., Luces, J. V. S. and Hirata, Y. 2022. Development of non-wearable walking assist robot for preventing falling accident. Presented at: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. JSME pp. 2A2-C06., (10.1299/jsmermd.2022.2A2-C06)
- Ravankar, A. A., Ravankar, A., Tafrishi, S. A., Salazar Luces, J. V. and Hirata, Y. 2022. Robot path planning in narrow environments using improved roadmap sampling. Presented at: The Proceedings of JSME Annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022, Vol. 2022. Vol. 0. JSME pp. 2P2-M03., (10.1299/jsmermd.2022.2P2-M03)
- Tafrishi, S. A., Dai, X., Hirata, Y. and Burns, A. 2022. Discretization and stabilization of energy-based controller for period switching control and flexible scheduling. Presented at: 2022 American Control Conference (ACC), Atlanta, USA, 08-10 June 20222022 American Control Conference (ACC). IEEE pp. 844-849., (10.23919/ACC53348.2022.9867252)
- Promsutipong, K., Luces, J. V. S., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2022. Immersive virtual walking system using an avatar robot. Presented at: 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 23-27 May 20222022 International Conference on Robotics and Automation (ICRA). IEEE pp. 9325-9331., (10.1109/ICRA46639.2022.9811588)
- Tafrishi, S. A., Ravankar, A. A., Luces, J. V. S. and Hirata, Y. 2022. A novel assistive controller based on differential geometry for users of the differential-drive wheeled mobile robots. Presented at: 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 23-27 May 20222022 International Conference on Robotics and Automation (ICRA). IEEE, (10.1109/ICRA46639.2022.9811593)
- Tafrishi, S. A., Ravankar, A. A., Salazar Luces, J. V. and Hirata, Y. 2022. A geometric assistive controller for the users of wheeled mobile robots without desired states. Presented at: 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO), Sanya, China, 27-31 December 20212021 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE pp. 1953-1959.
- Hertenberg, K., Luces, J. V. S., Tafrishi, S. A., Ravankar, A. A., Hirata, Y., BookGroupAuthors, . and IEEE, . 2022. Evaluation of an avatar robot with a physically immersive telepresence. Presented at: 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Sanya, China, 27-31 December 20212021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. IEEE pp. 99-104., (10.1109/ROBIO54168.2021.9739326)
- Mavinkurve, U. K., Tafrishi, S. A., Kanada, A., Honda, K., Nakashima, Y. and Yamamoto, M. 2021. An experimental study on energy-based control of rigid parallel series elastic actuator. Presented at: 2021 World Automation Congress (WAC), Taipei, Taiwan, 01-05 August 20212021 World Automation Congress (WAC). IEEE, (10.23919/WAC50355.2021.9559477)
- Mavinkurve, U. K., Tafrishi, S. A., Kanada, A. and Yamamoto, M. 2021. An energy based control for vibration suppression in a rigid parallel series elastic actuator. Presented at: 2021 IEEE/SICE International Symposium on System Integration (SII), Iwaki, Fukushima, Japan, 11-14 January 20212021 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 600-605.
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2020. Singularity-free inverse dynamics for underactuated systems with a rotating mass. Presented at: 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 31 May - 31 August 20202020 IEEE International Conference on Robotics and Automation (ICRA). IEEE pp. 3981-3987., (10.1109/ICRA40945.2020.9197306)
- Tafrishi, S., Esmaeilzadeh, E., Svinin, M. and Yamamoto, M. 2019. A fluid-actuated driving mechanism for rolling robots. Presented at: 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM), Toyonoka, Japan, 03-05 July 20192019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE, (10.1109/ICARM.2019.8833646)
- Tafrishi, S. A. and Kandjani, V. E. 2018. Line-circle: a geometric filter for single camera edge-based object detection. Presented at: 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), Tehran, Iran, 25-27 October 20172017 5th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE, (10.1109/ICRoM.2017.8466193)
- Tafrishi, S. A., Svinin, M. and Esmaeilzadeh, E. 2017. Effects of the slope on the motion of spherical RollRoller robot. Presented at: 2016 IEEE/SICE International Symposium on System Integration (SII), Sapporo, Japan, 13-15 December 20162016 IEEE/SICE International Symposium on System Integration (SII). IEEE, (10.1109/SII.2016.7844110)
Erthyglau
- Terayama, J., Ravankar, A. A., Luces, J. V. S., Tafrishi, S. A. and Hirata, Y. 2024. Concept and prototype development of adaptive touch walking support robot for maximizing human physical potential. IEEE Robotics and Automation Letters 9(8), pp. 6935-6942. (10.1109/LRA.2024.3415928)
- Wen, Q., Tafrishi, S. A., Ji, Z. and Lai, Y. 2024. GLSkeleton: A geometric Laplacian-based skeletonisation framework for object point clouds. IEEE Robotics and Automation Letters 9(5), pp. 4615-4622. (10.1109/LRA.2024.3384128)
- Tafrishi, S. A. and Hirata, Y. 2024. SPIRO: A compliant spiral spring-damper joint actuator with energy-based-sliding-mode controller. IEEE/ASME Transactions on Mechatronics 29(2), pp. 947-959. (10.1109/TMECH.2023.3346278)
- Mavinkurve, U., Kanada, A., Tafrishi, S. A., Honda, K., Nakashima, Y. and Yamamoto, M. 2024. Geared rod-driven continuum robot with woodpecker-inspired extension mechanism and IMU-based force sensing. IEEE Robotics and Automation Letters 9(1), pp. 135-142. (10.1109/LRA.2023.3331650)
- Tafrishi, S. A., Svinin, M., Yamamoto, M. and Hirata, Y. 2023. A geometric motion planning for a spin-rolling sphere on a plane. Applied Mathematical Modelling 121, pp. 542-561. (10.1016/j.apm.2023.05.009)
- Dong, Z., Luces, J. V. S., Ravankar, A. A., Tafrishi, S. A. and Hirata, Y. 2023. A performance evaluation of overground gait training with a mobile body weight support system using wearable sensors. IEEE Sensors Journal 23(11), pp. 12209-12223. (10.1109/JSEN.2023.3269031)
- Revankar, A., Tafrishi, S. A., Salazar Luces, J. V., Seto, F. and Hirata, Y. 2023. CARE: cooperation of AI-robot enablers to create a vibrant society. IEEE Robotics and Automation Magazine 30(1), pp. 8-23. (10.1109/MRA.2022.3223256)
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2021. Darboux-frame-based parametrization for a spin-rolling sphere on a plane: A nonlinear transformation of underactuated system to fully-actuated model. Mechanism and Machine Theory 164, article number: 104415. (10.1016/j.mechmachtheory.2021.104415)
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2021. Inverse dynamics of underactuated planar manipulators without inertial coupling singularities. Multibody System Dynamics 52(4), pp. 407-429. (10.1007/s11044-021-09788-8)
- Tafrishi, S. A., Dai, X. and Kandjani, V. E. 2021. Line-Circle-Square (LCS): a multilayered geometric filter for edge-based detection. Robotics and Autonomous Systems 137, article number: 103732. (10.1016/j.robot.2021.103732)
- Tafrishi, S. A., Svinin, M. and Yamamoto, M. 2021. A motion estimation filter for inertial measurement unit with on-board ferromagnetic materials. IEEE Robotics and Automation Letters 6(3), pp. 4939-4946. (10.1109/LRA.2021.3067301)
- Babayan, M., Tabatabaee-Hosseini, P., Esmaeilzadeh Kandjani, N., Tafrishi, S. A., Jafari, M. and Esmaeilzadeh, E. 2019. Experimental investigation of flow and coherent properties of excited non-circular liquid jets. Journal of Applied Fluid Mechanics 12(5), pp. 1667-1681. (10.29252/jafm.12.05.29453)
- Tafrishi, S. A., Svinin, M., Esmaeilzadeh, E. and Yamamoto, M. 2019. Design, modeling, and motion analysis of a novel fluid actuated spherical rolling robot. Journal of Mechanisms And Robotics-Transactions of the ASME 11(4), article number: 41010. (10.1115/1.4043689)
- Tafrishi, S. A., Bai, Y., Svinin, M., Esmaeilzadeh, E. and Yamamoto, M. 2019. Inverse dynamics-based motion control of a fluid-actuated rolling robot. Nelineinaya Dinamika 15(4) (10.20537/nd190420)
- Esmaeilzadeh Kandjani, N., Nurelahi, S., Tafrishi, S. A. and Esmaeilzadeh, E. 2018. Numerical study of chip cooling with internal nanofluid in minichannels and external air flow over sink with laminar regimes. Micro and Nano Letters 13(8), pp. 1105-1110. (10.1049/mnl.2018.0036)
Ymchwil
Crynodeb o'r Ymchwil
Thema ganolog ein hymchwil yw pontio'r bwlch rhwng theori rheoli cynnig ac actuators datblygedig ar gyfer dylunio robotiaid o'r radd flaenaf. Mae'r astudiaethau ymchwil yn canolbwyntio ar ecsbloetio ffiseg mecanweithiau datblygedig ar gyfer cymwysiadau yn y byd go iawn.
Mae ein cymhelliant ymchwil wedi'i ysbrydoli gan astudiaethau mewn damcaniaethau mathemategol ar fecaneg geometrig, rhwystriant amrywiol, amcangyfrif, theori rheoli ac ymreolaeth a rennir ac ati. Ochr yn ochr, rydym yn datblygu mecanweithiau a damcaniaethau rheoli newydd ar gyfer cymwysiadau ar gyfer cymorth dynol a robotiaid symudol datblygedig.
Ar hyn o bryd rydym yn archwilio datblygiad robotiaid treigl ailffurfweddadwy, mecanweithiau gafael ystwyth ac actuators cydymffurfio tanactuated. Nid yw ceisiadau o'r astudiaethau hyn yn gyfyngedig i gymorth dynol, robotiaid symudol hybrid, a cheisiadau diwydiannol.
Diddordebau Ymchwil
roboteg, dylunio mecanwaith, systemau tanweithredol, trin deheuig, cynllunio cynnig, mecaneg geometrig, robotiaid cynorthwyol, rheoli nonlinear
Ymchwiliadau blaenorol
Fframwaith "CARE" newydd ar les gyda robotiaid cydweithredol o dan ddiogelwch ac ymreolaeth a rennir
Sut i fesur diogelwch symudiad dynol gan ddefnyddio un IMU
A all atodi deunyddiau ferromagnetic wella amcangyfrif cynnig synwyryddion IMU?
Cynllunio llwybr sffêr troelli ar wahanol manifolds
Hidlo geometrig ar gyfer canfod ac olrhain gwrthrychau
Deinameg gwrthdro heb Singular ar gyfer robotiaid tanactuated
Robot treigl heb ei danseilio nofel gyda gyriant hylif
Addysgu
- EN4062 / ENT794, Advanced Robotics, semester gwanwyn, 2023 - presennol
- EN3062, Roboteg a Phrosesu Delweddau, semester yr Hydref, 2023
- EN1211, Mathemateg a Chyfrifiant (Cyfrifiannu ar gyfer myfyrwyr MMM), Semseter Dwbl, 2024 - presennol
Bywgraffiad
Addysg
- 2021, PhD mewn Peirianneg Fecanyddol, Roboteg a Rheolaeth Fawr, Prifysgol Kyushu, Fukuoka, Japan
- 2018, Myfyriwr Ymchwil, Peirianneg Fecanyddol, Prifysgol Kyushu, Fukuoka, Japan
- 2014, M.Sc. yn Peirianneg Systemau Rheoli, Prifysgol Sheffield, Sheffield, Y Deyrnas Unedig
- 2013, B.Sc. mewn Peirianneg Drydanol, Islamaidd Prifysgol Azad Tabriz, Tabriz, Iran
Aelodaethau proffesiynol
Aelodaeth
- Sefydliad y Peirianwyr Trydanol ac Electroneg (IEEE), Aelod, 2017-presennol,
- Gweithwyr Proffesiynol Ifanc IEEE, Aelod, 2018-presennol,
- Cymdeithas Roboteg ac Awtomeiddio IEEE, Aelod, 2018-presennol,
Gwasanaethau
- Cyd-drefnydd Sesiwn,"Roboteg ac AI ar gyfer Awtomeiddio Cartref, Gofal Iechyd, ac Amgylchynol 2023
- Symposiwm Rhyngwladol IEEE / SICE ar Integreiddiadau Systemau (SII), 2023, Atlanta, UDA
- Cyd-gadeirydd sesiwn,"Nonlinear Systems I", Cynhadledd Rheoli America 2022 (ACC), Rhithwir, 2022, Atlanta, UDA
- Safonwr Sesiwn (MC), "Sesiwn Poster Rhithwir", Cynhadledd Llywyddion Prifysgol 8th Almaeneg-Japaneaidd HeKKSaGOn, 2021, Prifysgol Tohoku, Sendai, Japan
Safleoedd academaidd blaenorol
- 2022 - Darlithydd Presennol, Ysgol Peirianneg, Prifysgol Caerdydd, Caerdydd, DU
- 2021 - 2022 Athro Cynorthwyol a Benodir yn arbennig, Smart Robots Design Lab, Prifysgol Tohoku, Sendai, Japan
- Cynorthwy-ydd Ymchwil 2018 - 2021, Lab Peirianneg Rheoli, Prifysgol Kyushu, Fukuoka, Japan
- 2016- 2017 Cynorthwy-ydd Ymchwil, Adran Peirianneg Fecanyddol, Prifysgol Tabriz, Tabriz, Iran
- 2015 - 2016 Ymweld Ymchwilydd, Adran Peirianneg Fecanyddol, Prifysgol Dechnegol y Dwyrain Canol, Ankara, Twrci
- 2014 - 2015 Grŵp Ymchwil Ymchwilio, Systemau Ymreolaethol a Roboteg, Prifysgol Sheffield, Sheffield, Y Deyrnas Unedig
Pwyllgorau ac adolygu
Peer-Reviewed Journals
- IEEE Robotics and Automation Letters (RA-L)
- IEEE/ASME Transactions on Mechatronics
- Multibody System Dynamics, Springer
- International Journal of Control, Automation, and Systems
- Part C: Journal of Mechanical Engineering Science, Sage
Peer-Reviewed Conferences
- International Conference on Robotics and Automation (ICRA), 2017-2023
- The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021-2023
- IEEE/SICE International Symposium on System Integration (SII) 2016-2023
- IFAC World Congress 2023.
- IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), 2019
- IEEE RSI International Conference on Robotics and Mechatronics (ICRoM) 2017.
Meysydd goruchwyliaeth
Er bod gen i ddiddordeb mewn pynciau amrywiol mewn roboteg a pheirianneg reoli, fy mhrosiectau ymchwil prif ffrwd presennol yw:
- Dylunio, cynllunio cynnig a rheoli actuators cydymffurfio datblygedig ar gyfer robotiaid,
- Strategaethau ar gyfer rhyngweithio dynol-robot am gymorth,
- Mecanweithiau locomotion uwch ar gyfer robotiaid symudol,
- Cynllunio a rheoli ar gyfer tasgau deinamig, nonprehensile, a thrin hybrid,
- Dylunio a rheoli mecanweithiau gafael ystwyth,
- Cynllunio cynnig a dylunio robotiaid rholio reconfigurable,
- Strategaethau rheoli uwch sy'n seiliedig ar ynni ar gyfer robotiaid tanweithredol,
Mae yna bynciau ymchwil rhyngddisgyblaethol a sylfaenol sydd hefyd yn ddiddordeb gennyf mewn gweithio arnynt, e.e. diogelwch mewn HRI, ymreolaeth a rennir, cynllunio cynnig gan fecaneg geometrig, systemau nonholonomig ac ati...
Goruchwyliaeth gyfredol
Contact Details
TafrishiSA@caerdydd.ac.uk
+44 29208 76176
Adeiladau'r Frenhines - Adeilad y Dwyrain, Ystafell Ystafell E/3.16, 5 The Parade, Heol Casnewydd, Caerdydd, CF24 3AA
+44 29208 76176
Adeiladau'r Frenhines - Adeilad y Dwyrain, Ystafell Ystafell E/3.16, 5 The Parade, Heol Casnewydd, Caerdydd, CF24 3AA
Themâu ymchwil
Arbenigeddau
- Peirianneg rheoli, mecatroneg a roboteg
- Dylunio caledwedd a phensaernïaeth Mecatroneg
- Peirianneg rheoli
- Roboteg deallus
- Robotiaid a thechnoleg gynorthwyol