![Seyed Amir Tafrishi](https://profiles-cardiff.imgix.net/attachments/3927?w=200&h=200&auto=format&crop=faces&fit=crop&q=90")
Dr Seyed Amir Tafrishi
Lecturer in Robotics and Autonomous Systems
- Available for postgraduate supervision
Overview
Dr Seyed Amir Tafrishi is a Lecturer in Robotics and Autonomous Systems at the Engineering School of Cardiff University, UK. Also, He is part 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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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
2024
- 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
- 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)
- 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)
- 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)
- 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)
Articles
- 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)
Conferences
- 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)
- 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)
- 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)
- 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)
- 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)
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
- EN3062, Robotics and Image Processing, Autumn semester, 2023
- EN1211, Maths and Computation (Computation for MMM students), Double Semseter, 2024 - present
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
Qingmeng Wen
Graduate Demonstrator
Contact Details
TafrishiSA@cardiff.ac.uk
+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