• Kinematics Control of Continuum Robots Based on Screw Theory 

  Shekari, Saeedeh؛ Gholibeikian, Arman؛ Moosavian, S. Ali A (K.N. Toosi University of Technology, 2025-01-01)

  Controlling continuum robotic arms presents significant challenges due to their highly nonlinear nature and inherently uncertain and complex structure. This complexity affects the application of continuum arms in various ...

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• Study of Lateral Vibrations of a Prismatic Actuator and Its Effects on the Accuracy of the 6UPS Stewart Robot 

  Nourian, Amin؛ Akbarzadeh, Ali (K.N. Toosi University of Technology, 2024-12-01)

  Many robotic mechanisms rely on rotating linear (prismatic) actuators, whose performance and accuracy can be significantly affected by lateral vibration. In this study, the vibrational behavior of a flexible rotating ...

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• Dynamics, Energetics, and Parameter Study of Double Support Phase in Biped Gait with a Linear Force Increment 

  Termeh, Mahdie؛ Zare-Shahabadi, Abolfazl (K.N. Toosi University of Technology, 2024-12-01)

  This paper is a study on dynamics of a two-link biped in level walking, focusing on the double support phase . For a mechanical model with generality in leg mechanism dynamics is undetermined including one degree of ...

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• A Novel Path Planning and Obstacle Avoidance Method for Considerable Localizing Error 

  Kazemi, Seyyed Saied؛ Hosseini Musa, Seyed Foad (K.N. Toosi University of Technology, 2024-12-01)

  Mobile robots hold significant potential for a broad spectrum of applications in industry and various service domains. Consequently, extensive research efforts have been devoted to addressing deficiencies and improving ...

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• Automatic Path Planning for GMAW Welding on Locomotive Bogie in Low Contrast by Welding Robot 

  Rezaee, Alireza؛ Safdari, Amirhossein؛ Fazli, Mohammad Javad (K.N. Toosi University of Technology, 2024-12-01)

  A locomotive is a rail vehicle that provides the driving power for a train. Railway vehicles consist of multiple components, among which bogies play a critical role as key load-bearing parts. They support the weight of the ...

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• Modeling and Sensitivity Analysis of Stick-Slip Piezoelectric Rotary Inertia Motor 

  Azadkhani, Mohammad؛ Karimi, Fatemeh؛ Ghafarirad, Hamed؛ Zareinezhad, Mohammad (K.N. Toosi University of Technology, 2024-12-01)

  This paper presents a comprehensive investigation about piezoelectric inertia motors. The study progressed with the meticulous fabrication of a rotational piezomotor, allowing for empirical data collection. A mathematical ...

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• A Biomechatronic Approach to Evaluating the Security of Wearable Devices in the Internet of Medical Things 

  Vaseghi, Yas؛ Behara, Behnaz؛ Delrobaei, Mehdi (K.N. Toosi University of Technology, 2024-12-01)

  The Internet of Medical Things (IoMT) has the potential to revolutionize healthcare by reducing human error and improving patient health. For instance, wearable smart infusion pumps can accurately administer medication and ...

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• Conflict Free Path Planning for Multiple Autonomous Guided Vehicle 

  Fazlollahtabar, Hamed (K.N. Toosi University of Technology, 2023-05-01)

  In automated guided vehicle (AGV) systems, the begin-end combinations are usually connected using a fixed layout, which is not the optimal path. The capability of these configurations is limited and often the conflict of ...

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• Fault Tolerant System for Multirotor Drones: a Novel Comparison for Different Methods 

  Mazeh, Hussein؛ Taghirad, Hamid؛ Sahili, Jihad (K.N. Toosi University of Technology, 2023-05-01)

  This paper proposes a nonlinear robust passive fault tolerance controller for recovering faults and perturbation that affect the actuators of multirotor unmanned aerial vehicles. This approach is applied to a coaxial ...

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• Model-Free Joint Space Controller for Fully-Constrained Cable-Driven Parallel Robots: a Bio-Inspired Algorithm 

  Bajelani, Mohammad؛ Khalilpour, S. Ahmad؛ Hosseini, M. Isaac؛ Taghirad, Hamid؛ Cardou, Philippe (K.N. Toosi University of Technology, 2023-05-01)

  Due to the complex model of cables, non-linearity, and uncertainties that exist in Cable-Driven Parallel Robots (CDPRs), this paper proposes a bio-inspired intelligent approach to overcome these challenges. This method, ...

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• ATLAS finger: a Prosthetic Finger Mechanism for Robotic Applications 

  Gorjestani, Aryan؛ Cheraghpour Samavati, Farzad (K.N. Toosi University of Technology, 2023-05-01)

  The first and most important part of mechanical design of a prosthetic hand is the finger. Over the years, many diverse and innovative designs for the prosthetic finger mechanism have been proposed. For this aim, capability ...

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• Eye In-hand Stereo Image Based Visual Servoing for Robotic Assembly and Set-Point Calibration used on 4 DOF SCARA robot 

  Jeddi, Mahmoud؛ Khoogar, Ahmadreza؛ Mehdipoor Omrani, Ali (K.N. Toosi University of Technology, 2022-05-01)

  The method is presented for object assembling via a manipulator robot. This method was designed to track the pieces based on image feedback for pick and placement tasks. The depth of the pieces is calculated by stereo ...

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• Fast Reinforcement Learning approach to robust optimal control of bipedal robots with Point-feet 

  Anjidani, Majid؛ Jahed Motlagh, Mohammad Reza؛ Fathy, Mahmood؛ Nili Ahmadabad, Majid (K.N. Toosi University of Technology, 2021-06-01)

  Designing a walking gait for biped robots, that can preserve stability against a known range of disturbances, is very important in real applications. In the area of biped robots with point-feet, designing an exponentially ...

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• Control of Nonholonomic Electrically-Driven Tractor-Trailer Wheeled Robots based on Adaptive Partial Linearization 

  Tarvirdizadeh, Bahram؛ Alipour, Khalil؛ Spanogianopoulos, Sotirios (K.N. Toosi University of Technology, 2020-04-01)

  Wheeled Mobile Robots (WMRs) are simple, easy to move on hard and level terrain and can be controlled effectively. Due to these merits, many researchers have studied the challenges of WMRs. To improve the payload transportation ...

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• Experimental Identification and Hybrid PID-Fuzzy Position Control of Continuum Robotic Arms 

  Parvaresh, Aida؛ Moosavian, S. Ali A. (K.N. Toosi University of Technology, 2020-04-01)

  Continuum robotic arms that are inspired from nature, have manyadvantages compared to traditional robots, which motivate researchers inthis field. Dynamic modeling and controlling these robots are challengingsubjects due ...

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• RoboWalk: Comprehensive Augmented Dynamics Modeling and performance analysis 

  Moosavian, S. Ali A.؛ Nabipour, Mahdi (K.N. Toosi University of Technology, 2019-06-01)

  Utilizing orthosis and exoskeletons has drawn a lot of attention in many applications including medical industries. These devices are used in the area of physical therapy to facilitate the patient's exercises and as an ...

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• A New Adaptive UKF Algorithm to Improve the Accuracy of SLAM 

  Bozorg, Mohammad؛ Bahraini, Masoud؛ Rad, Ahmad (K.N. Toosi University of Technology, 2019-06-01)

  SLAM (Simultaneous Localization and Mapping) is a fundamental problem when an autonomous mobile robot explores an unknown environment by constructing/updating the environment map and localizing itself in this built map. ...

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• Exploring Social Robots as a tool for Special Education to teach English to Iranian Kids with Autism 

  Alemi, Minoo (K.N. Toosi University of Technology, 2016-03-01)

  This paper investigates the effects of Robot Assisted Language Learning (RALL) on English vocabulary learning and retention of Iranian children with high-functioning autism. Two groups of three male students (6-10 years ...

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• Design and Development of a Mechanical Safety Stop Mechanism and an Adaptive Variable Impedance Controller for a Soft Hand Exoskeleton 

  Nazari, Faezeh؛ Chaibakhsh, Ali؛ Najafi, Farid؛ Alipour, Khalil (K.N. Toosi University of Technology, 2022-05-01)

  In this paper, the design and performance evaluation of a new safety stop mechanism for a soft-hand exoskeleton are presented. The considered wearable orthosis comprises an under-actuated tendon-driven mechanism to perform ...

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• A new framework of synchronized adaptive fuzzy sliding mode control for networked under-actuated systems subjected to communication delay 

  Karamali Ravandi, Abbas؛ Khanmirza, Esmaeel؛ Seyed Yousef, Seyed Ali؛ Valipour Arekhlou, Mousa؛ Daneshjou, Kamran (K.N. Toosi University of Technology, 2021-06-01)

  A new framework of synchronized adaptive fuzzy sliding mode control (AFSMC) approach for a network of under-actuated systems (UASs) under communication time delay is presented here. The basic equations of motion of each ...

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