![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
- Available for postgraduate supervision
Teams and roles for Seyed Amir Tafrishi
Lecturer in Robotics and Autonomous Systems
Overview
Dr Seyed Amir Tafrishi is a Lecturer in Robotics and Autonomous Systems at the Engineering School of Cardiff University, UK. He is the Head and Founder of Geometric Mechanics and Mechatronics in Robotics (gm²R) Lab. Also, He is a core academic member of the Robotics and Autonomous Intelligent Machines (RAIM) group.
Previously, He was a Specially Appointed Assistant Professor at Smart Robots Design Lab in Robotics Department, Tohoku University Japan. He worked in the Adaptable AI-enabled Robots to Create Vibrant Societies group as part of Moonshot R & D project initiated by the Japanese Government. The project was aimed at developing assistive and cooperative robots for future welfare facilities. A new shared autonomy concept under safety constraints between human and robot interaction was proposed. Also, there were other achievements in the areas of assistive-compliant actuators and safety quantification.
He received his PhD from Mechanical Engineering Department, Kyushu University, Fukuoka, Japan. He did his M.Sc. studies in Control Systems Engineering at the Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, United Kingdom.
Since 2015, he has been a visiting researcher at Autonomous Systems and Robotics Research Group, Sheffield, UK, Mechatronic Lab. at Middle East Technical University, Turkey, Fluid Mechanics Laboratory at the University of Tabriz; and the Control Engineering Lab at Kyushu University.
Note: Please refer to my webpage for more details
Current openings:
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***NEW*** Fully-Funded PhD, DLA EPSRC, MorphoFusionAssist: Developing Reconfigurable Rolling Robot for Manipulation Assistance in Fusion Inspection and Maintenance, (closing by 9th Jan 2026)
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PhD Candidate, Design and Control of Agile Fingertips for Dexterous Manipulation (closing as soon as a suitable candidate is found)
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PhD Candidate, Designing Compliant Hybrid Actuators for Versatile Use in Mobile Robotics (closing as soon as a suitable candidate is found)
Publication
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 2026. 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft). IEEE(10.1109/robosoft63089.2025.11020911)
- Wen, Q. et al., 2025. Skeleton-guided rolling-contact kinematics for arbitrary point clouds via locally controllable parameterized curve fitting. Presented at: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Hangzhou, China 19-25 October 2025. 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. , pp.13127-13132. (10.1109/iros60139.2025.11246194)
- Wen, Q. et al. 2025. Skeleton-guided rolling-contact kinematics for arbitrary point clouds via locally controllable parameterized curve fitting. Presented at: IEEE/RSJ International Conference on Intelligent Robots and Systems Hangzhou, China 19–25 October 2025.
2024
- 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.
- 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. Published in: 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)
- Mavinkurve, U. et al., 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)
- Murase, S. et al., 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)
- 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. Published in: 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)
- Terayama, J. et al., 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. et al. 2024. What criteria define an ideal skeletonisation reference in object point clouds?. Presented at: TAROS 2024: 25th Annual Conference London, UK 21-23 August 2024. Published in: Huda, M. N. , Wang, M. and Kalganova, T. eds. Towards Autonomous Robotic Systems. 25th Annual Conference, TAROS 2024, London, UK, August 21–23, 2024, Proceedings, Part I. Lecture Notes in Computer Science Springer. , pp.422-433. (10.1007/978-3-031-72059-8_35)
- Wen, Q. et al. 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. et al. 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)
- 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.
- 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. Published in: 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)
2023
- Aoki, G. et al., 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 2023. 2023 IEEE/SICE International Symposium on System Integration (SII). IEEE. (10.1109/SII55687.2023.10039419)
- Chikhalikar, A. et al., 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 2023. 2023 IEEE/SICE International Symposium on System Integration (SII). IEEE. , pp.1-6. (10.1109/SII55687.2023.10039409)
- Dong, Z. et al., 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)
- Hirata, Y. et al., 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. Published in: 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)
- Rayamane, P. et al. 2023. Towards smooth human-robot handover with a vision-based tactile sensor. Presented at: Annual Conference Towards Autonomous Robotic Systems 13-15 September 2023. Published in: Iida, F. et al., 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)
- Revankar, A. et al., 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. et al. 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)
2022
- Aoki, G. et al., 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)
- Dong, Z. et al., 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)
- Hertenberg, K. et al., 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 2021. 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. IEEE. , pp.99-104. (10.1109/ROBIO54168.2021.9739326)
- Promsutipong, K. et al., 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 2022. 2022 International Conference on Robotics and Automation (ICRA). IEEE. , pp.9325-9331. (10.1109/ICRA46639.2022.9811588)
- Ravankar, A. A. et al., 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)
- Ravankar, A. A. et al., 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. et al. 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 2022. 2022 American Control Conference (ACC). IEEE. , pp.844-849. (10.23919/ACC53348.2022.9867252)
- Tafrishi, S. A. et al. 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 2022. 2022 International Conference on Robotics and Automation (ICRA). IEEE. (10.1109/ICRA46639.2022.9811593)
- Tafrishi, S. A. et al. 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 2021. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE. , pp.1953-1959.
- Terayama, J. et al., 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)
2021
- Mavinkurve, U. K. et al., 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 2021. 2021 IEEE/SICE International Symposium on System Integration (SII). IEEE. , pp.600-605.
- Mavinkurve, U. K. et al., 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 2021. 2021 World Automation Congress (WAC). IEEE. (10.23919/WAC50355.2021.9559477)
- 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 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)
- 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 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)
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 2020. 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE. , pp.3981-3987. (10.1109/ICRA40945.2020.9197306)
2019
- Babayan, M. et al., 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. et al. 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 2019. 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE. (10.1109/ICARM.2019.8833646)
- Tafrishi, S. A. et al. 2019. Inverse dynamics-based motion control of a fluid-actuated rolling robot. Nelineinaya Dinamika 15 (4)(10.20537/nd190420)
- Tafrishi, S. A. et al. 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) 041010. (10.1115/1.4043689)
2018
- Esmaeilzadeh Kandjani, N. et al., 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)
- 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 2017. 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE. (10.1109/ICRoM.2017.8466193)
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 2016. 2016 IEEE/SICE International Symposium on System Integration (SII). IEEE. (10.1109/SII.2016.7844110)
Articles
- Babayan, M. et al., 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)
- Dong, Z. et al., 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)
- Esmaeilzadeh Kandjani, N. et al., 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)
- Mavinkurve, U. et al., 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)
- Revankar, A. et al., 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. et al. 2019. Inverse dynamics-based motion control of a fluid-actuated rolling robot. Nelineinaya Dinamika 15 (4)(10.20537/nd190420)
- 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 103732. (10.1016/j.robot.2021.103732)
- 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)
- Tafrishi, S. A. et al. 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) 041010. (10.1115/1.4043689)
- Tafrishi, S. A. et al. 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)
- 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)
- 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 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)
- Terayama, J. et al., 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. et al. 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)
Conferences
- Aoki, G. et al., 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)
- Aoki, G. et al., 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 2023. 2023 IEEE/SICE International Symposium on System Integration (SII). IEEE. (10.1109/SII55687.2023.10039419)
- Chikhalikar, A. et al., 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 2023. 2023 IEEE/SICE International Symposium on System Integration (SII). IEEE. , pp.1-6. (10.1109/SII55687.2023.10039409)
- Dong, Z. et al., 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)
- Hertenberg, K. et al., 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 2021. 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. IEEE. , pp.99-104. (10.1109/ROBIO54168.2021.9739326)
- Hirata, Y. et al., 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. Published in: 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)
- 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.
- 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. Published in: 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)
- 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 2026. 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft). IEEE(10.1109/robosoft63089.2025.11020911)
- Mavinkurve, U. K. et al., 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 2021. 2021 IEEE/SICE International Symposium on System Integration (SII). IEEE. , pp.600-605.
- Mavinkurve, U. K. et al., 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 2021. 2021 World Automation Congress (WAC). IEEE. (10.23919/WAC50355.2021.9559477)
- Murase, S. et al., 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)
- Promsutipong, K. et al., 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 2022. 2022 International Conference on Robotics and Automation (ICRA). IEEE. , pp.9325-9331. (10.1109/ICRA46639.2022.9811588)
- Ravankar, A. A. et al., 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)
- Ravankar, A. A. et al., 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)
- Rayamane, P. et al. 2023. Towards smooth human-robot handover with a vision-based tactile sensor. Presented at: Annual Conference Towards Autonomous Robotic Systems 13-15 September 2023. Published in: Iida, F. et al., 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)
- 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. Published in: 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. et al. 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 2019. 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE. (10.1109/ICARM.2019.8833646)
- Tafrishi, S. A. et al. 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 2022. 2022 American Control Conference (ACC). IEEE. , pp.844-849. (10.23919/ACC53348.2022.9867252)
- 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 2017. 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE. (10.1109/ICRoM.2017.8466193)
- Tafrishi, S. A. et al. 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 2022. 2022 International Conference on Robotics and Automation (ICRA). IEEE. (10.1109/ICRA46639.2022.9811593)
- Tafrishi, S. A. et al. 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 2021. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE. , pp.1953-1959.
- 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 2016. 2016 IEEE/SICE International Symposium on System Integration (SII). IEEE. (10.1109/SII.2016.7844110)
- 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 2020. 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE. , pp.3981-3987. (10.1109/ICRA40945.2020.9197306)
- Terayama, J. et al., 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)
- Wen, Q. et al., 2025. Skeleton-guided rolling-contact kinematics for arbitrary point clouds via locally controllable parameterized curve fitting. Presented at: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Hangzhou, China 19-25 October 2025. 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. , pp.13127-13132. (10.1109/iros60139.2025.11246194)
- Wen, Q. et al. 2025. Skeleton-guided rolling-contact kinematics for arbitrary point clouds via locally controllable parameterized curve fitting. Presented at: IEEE/RSJ International Conference on Intelligent Robots and Systems Hangzhou, China 19–25 October 2025.
- Wen, Q. et al. 2024. What criteria define an ideal skeletonisation reference in object point clouds?. Presented at: TAROS 2024: 25th Annual Conference London, UK 21-23 August 2024. Published in: Huda, M. N. , Wang, M. and Kalganova, T. eds. Towards Autonomous Robotic Systems. 25th Annual Conference, TAROS 2024, London, UK, August 21–23, 2024, Proceedings, Part I. Lecture Notes in Computer Science Springer. , pp.422-433. (10.1007/978-3-031-72059-8_35)
- Wen, Q. et al. 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.
- 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.
- 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. Published in: 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)
Research
Research Summary
The central theme of our research is bridging the gap between motion control theory and advanced actuators for designing state-of-the-art robots. The research studies focus on exploiting the physics of advanced mechanisms for real-world applications.
Our research motivation is inspired by studies in mathematical theories on geometric mechanics, variable impedance, estimation, control theory and shared autonomy etc. In parallel, we develop new mechanisms and control theories for applications for human assistance and advanced mobile robots.
We are currently exploring the development of reconfigurable rolling robots, agile grasping mechanisms and underactuated compliant actuators. Applications of these studies are not limited to human assistance, hybrid mobile robots, and industrial applications.
Research Interests
Robotics, mechanism design, underactuated systems, dexterous manipulation, motion planning, geometric mechanics, assistive robots, nonlinear control
Previous Researches
A new "CARE" framework on welfare with cooperative robots under safety and shared autonomy
How to quantify the safety of human motion using a single IMU
An assistive geometric controller without any desired configuration for operating with mobile robots
Can attaching ferromagnetic materials improve the motion estimation of IMU sensors?
Path planning of spin-rolling sphere on different manifolds
Geometric filter for object detection and tracking
Singular-free inverse dynamics for underactuated robots
A novel underactuated rolling robot with fluid propulsion
Teaching
- EN4062/ENT794, Advanced Robotics, Spring semester, 2023 - present
- ENT643, Intelligent Robotics and Practices, Double semester, 2025 - present
- EN3062, Robotics and Image Processing, Autumn semester, 2023
- EN1211, Maths and Computation (Computation for MMM students), Double semester, 2024
Biography
Education
- 2021, PhD in Mechanical Engineering, Robotics and Control Major, Kyushu University, Fukuoka, Japan
- 2018, Research Student, Mechanical Engineering, Kyushu University, Fukuoka, Japan
- 2014, M.Sc. in Control Systems Engineering, University of Sheffield, Sheffield, United Kingdom
- 2013, B.Sc. in Electrical Engineering, Islamic Azad University of Tabriz, Tabriz, Iran
Professional memberships
Memberships
- Institute of Electrical and Electronics Engineers (IEEE), Member, 2017-present,
- IEEE Young Professionals, Member, 2018-present,
- IEEE Robotics and Automation Society, Member, 2018-present,
Services
- Session Co-Organizer,”Robotics and AI for Home Automation, Healthcare, and Ambient 2023
- IEEE/SICE International Symposium on System Integrations (SII), 2023, Atlanta, USA
- Session Co-chair,”Nonlinear Systems I”, The 2022 American Control Conference (ACC), Virtual, 2022, Atlanta, USA
- Session Moderator (MC),”Virtual Poster Session”, The 8th German-Japanese University Presidents’ Conference HeKKSaGOn, 2021, Tohoku University, Sendai, Japan
Academic positions
- 2022 - Present Lecturer, School of Engineering, Cardiff University, Cardiff, UK
- 2021 - 2022 Specially Appointed Assistant Professor, Smart Robots Design Lab, Tohoku University, Sendai, Japan
- 2018 - 2021 Research Assistant, Control Engineering Lab, Kyushu University, Fukuoka, Japan
- 2016- 2017 Research Assistant, Mechanical Engineering Department, University of Tabriz, Tabriz, Iran
- 2015 - 2016 Visiting Researcher, Mechanical Engineering Department, Middle East Technical University, Ankara, Turkey
- 2014 - 2015 Visiting Researcher, Autonomous Systems and Robotics Research Group, University of Sheffield, Sheffield, United Kingdom
Committees and reviewing
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
- The IEEE Control Systems Letters (L-CSS)
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.
Supervisions
Although I am interested in various topics in robotics and control engineering, my current mainstream research topics are:
- Design, motion planning and control of advanced compliant actuators for robots,
- Strategies for Human-robot interaction for assistance,
- Advanced locomotion mechanisms for mobile robots,
- Planning and control for dynamic, nonprehensile, and hybrid manipulation tasks,
- Design and control of agile grasping mechanisms,
- Motion planning and design of reconfigurable rolling robots,
- Advanced energy-based control strategies for underactuated robots,
There are interdisciplinary and fundamental research topics that also I am interested in working on, e.g., safety in HRI, shared autonomy, motion planning by geometric mechanics, nonholonomic systems etc...
Current supervision
Contact Details
[email protected]
+44 29208 76176
Queen's Buildings - East Building, Room Room E/3.16, 5 The Parade, Newport Road, Cardiff, CF24 3AA
+44 29208 76176
Queen's Buildings - East Building, Room Room E/3.16, 5 The Parade, Newport Road, Cardiff, CF24 3AA
Research themes
Specialisms
- Control engineering, mechatronics and robotics
- Mechatronics hardware design and architecture
- Control engineering
- Intelligent robotics
- Assistive robots and technology