Navvab Kashiri

B.Sc.Eng., M.Sc.Eng., Ph.D.

Mechatronics and mechanical design, robot control and motion planning

Akash Singh, Navvab Kashiri, and Nikolaos Tsagarakis. Thermal control for peak operation of electric robotic actuators. In 2021 20th International Conference on Advanced Robotics (ICAR), 2021. 

Edoardo Romiti, Jörn Malzahn, Navvab Kashiri, Francesco Iacobelli, Marco Ruzzon, Arturo Laurenzi, Enrico Mingo Hoffman, Luca Muratore, Alessio Margan, Lorenzo Baccelliere, et al. To-ward a plug-and-work reconfigurable cobot. IEEE/ASME Transactions on Mechatronics, 2021.

Edoardo Romiti, Navvab Kashiri, Jorn Malzahn, and Nikolaos Tsagarakis. Minimum-effort task-based design optimization of modular reconfigurable robots. In IEEE International Conferenceon Robotics and Automation (ICRA), 2021.

Xinyuan Zhao, Yangwei You, Arturo Laurenzi, Navvab Kashiri, and Nikolaos Tsagarakis. Locomotion adaptation in heavy payload transportation tasks with the quadruped robot centauro. InIEEE International Conference on Robotics and Automation (ICRA), 2021.

Akash Singh, Navvab Kashiri, and Nikolaos Tsagarakis. Design of a quasi direct drive actuator for dynamic motions. In 1st International Electronic Conference on Actuator Technology: Materials,Devices and Applications (IeCAT), 2020.

Luca Paparusso, Navvab Kashiri, and Nikos G Tsagarakis. A disturbance-aware trajectory planning scheme based on model predictive control. IEEE Robotics and Automation Letters, 5(4):5779–5786, 2020.

Małgorzata Kameduła, Navvab Kashiri, and Nikos G Tsagarakis. Wheeled motion kinematics and control of a hybrid mobility centauro robot. Robotics and Autonomous Systems, page 103482, 2020.

Mobin Mohammadnia, Navvab Kashiri, Francesco Braghin, and Nikos G Tsagarakis. Flux regulation for torque-controlled robotics actuators. In 2019 19th International Conference on Advanced Robotics (ICAR), pages 93–98. IEEE, 2019.

Tobias Klamt, Diego Rodriguez, Lorenzo Baccelliere, Xi Chen, Domenico Chiaradia, Torben Cichon, Massimiliano Gabardi, Paolo Guria, Karl Holmquist, Malgorzata Kamedula, Navvab Kashiri, et al. Flexible disaster response of tomorrow: Final presentation and evaluation of the centauro system. IEEE robotics& automation magazine, 26(4):59–72, 2019.

Cheng Fang, Navvab Kashiri, Giuseppe F Rigano, Arash Ajoudani, and Nikos G Tsagarakis. Exploitation of environment support contacts for manipulation effort reduction of a robotarm. In 2019 International Conference on Robotics and Automation (ICRA), pages 9502–9508. IEEE, 2019.

Tobias Klamt, Max Schwarz, Christian Lenz, Lorenzo Baccelliere, Domenico Buongiorno, Torben Cichon, Antonio DiGuardo, David Droeschel, Massimiliano Gabardi, Malgorzata Kamedula,Navvab Kashiri, et al. Remote mobile manipulation with the centauro robot: Full-body telepresence and autonomous operator assistance. Journal of Field Robotics, 37(5):889–919, 2020.

Jörn Malzahn, Navvab Kashiri, Monica A Daley, and NikosTsagarakis. Advances in mechatronics and biomechanics towards efficient robot actuation. Frontiers in Robotics and AI, 6: 19, 2019.

Navvab Kashiri, Lorenzo Baccelliere, Luca Muratore, Arturo Laurenzi, Zeyu Ren, Enrico Mingo Hoffman, Malgorzata Kamedula,Giuseppe Francesco Rigano, Jorn Malzahn, Stefano Cordasco, et al. Centauro: A hybrid locomotion and high power resilient manipulation platform. IEEE Robotics and Automation Letters, 4 (2):1595–1602, 2019.

Jinoh Lee, Maolin Jin, Navvab Kashiri, Darwin G Caldwell, and Nikolaos G Tsagarakis. Inversion-free force tracking control of piezoelectric actuators using fast finite-time integral terminal sliding-mode. Mechatronics, 57:39–50, 2019.

Cheng Fang, Giuseppe Rigano, Navvab Kashiri, Arash Ajoudani, Jinoh Lee, and Nikos Tsagarakis. Online joint stiffness transfer from human arm to anthropomorphic arm. In 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pages1457–1464. IEEE, 2018.

Mohammad Shahbazi, Navvab Kashiri, Darwin Caldwell, and Nikolaos Tsagarakis. On the orientation planning with constrained angular velocity and acceleration at endpoints. In 2018IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 7033–7038. IEEE, 2018.

Malgorzata Kamedula, Navvab Kashiri, and Nikos G Tsagarakis. On the kinematics of wheeled motion control of a hybridwheeled-legged centauro robot. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2426–2433. IEEE, 2018.

Wesley Roozing, Navvab Kashiri, and Nikos G Tsagarakis.Enhanced explosive motion for torque controlled actuators through field weakening control. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1–8. IEEE, 2018.

Navvab Kashiri, Andy Abate, Sabrina J Abram, Alin Albu-Schaffer, Patrick J Clary, Monica Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, et al. An overview on principles for energy efficient robot locomotion. Frontiers inRobotics and AI, 5:129, 2018.

Zeyu Ren, Navvab Kashiri, Chengxu Zhou, and Nikos G Tsagarakis. Heri ii: A robust and flexible robotic hand based on modular finger design and under actuation principles. In 2018IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1449–1455. IEEE, 2018.

Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Lorenzo Baccelliere, Navvab Kashiri, Darwin G Caldwell, and Nikos GTsagarakis. Enhanced tele-interaction in unknown environments using semi-autonomous motion and impedance regulation principles. In 2018 IEEE International Conference on Robotics and Automation (ICRA), pages 1–5. IEEE, 2018.

Nikolaos G Tsagarakis et al. Walk-man humanoid platform. In The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue, pages 495–548. Springer, Cham, 2018.

Emmanouil Spyrakos-Papastavridis, Navvab Kashiri, Peter RNChilds, and Nikos G Tsagarakis. Online impedance regulation techniques for compliant humanoid balancing. Robotics and Autonomous Systems, 104:85–98, 2018.

Navvab Kashiri, Jörn Malzahn, and Nikos G Tsagarakis. Onthe sensor design of torque controlled actuators: A comparison study of strain gauge and encoder-based principles. IEEE Robotics and Automation Letters, 2(2):1186–1194, 2017.

Mohammad Shahbazi, Navvab Kashiri, Darwin Caldwell, and Nikolaos Tsagarakis. Orientation planning in task space using quaternion polynomials. In 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), pages 2343–2348. IEEE, 2017.

Navvab Kashiri, Darwin G Caldwell, and Nikolaos Tsagarakis. A self-adaptive variable impedance actuator based on intrinsic non-linear compliance and damping principles. In 2017 IEEE International Conference on Robotics and Automation (ICRA), pages1248–1254. IEEE, 2017.

Jörn Malzahn, Navvab Kashiri, Wesley Roozing, Nikos Tsagarakis, and Darwin Caldwell. What is the torque bandwidth of this actuator? In 2017 IEEE/RSJ International Conference onIntelligent Robots and Systems (IROS), pages 4762–4768. IEEE, 2017.

Navvab Kashiri, Emmanouil Spyrakos-Papastavridis, Darwin G Caldwell, and Nikos G Tsagarakis. Exploiting the natural dynam-ics of compliant joint robots for cyclic motions. In 2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), pages 676–681. IEEE, 2017.

Lorenzo Baccelliere, Navvab Kashiri*, Luca Muratore, Arturo Laurenzi, Małgorzata Kamedula, Alessio Margan, Stefano Cordasco, Jörn Malzahn, and Nikos G Tsagarakis. Development of a human size and strength compliant bi-manual platform for re-alistic heavy manipulation tasks. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017.

Wesley Roozing, Jörn Malzahn, Navvab Kashiri, Darwin G Caldwell, and Nikos G Tsagarakis. On the stiffness selection for torque-controlled series-elastic actuators. IEEE Robotics andAutomation Letters, 2(4):2255–2262, 2017.

Nikolaos G Tsagarakis et al. Walk-man: A high-performance humanoid platform for realistic environments. Journal of Field Robotics, 34(7):1225–1259, 2017.

Navvab Kashiri, Arash Ajoudani, Darwin G. Caldwell, and Nikos G. Tsagarakis. Evaluation of hip kinematics influence on the perfor-mance of a quadrupedal robot leg. In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics, volume 1, pages 205–212. scitepress, 2016.

Navvab Kashiri, Jinoh Lee, Nikos G Tsagarakis, Michäel Van Damme, Bram Vanderborght, and Darwin G Caldwell.Proxy-based position control of manipulators with passive compliant actuators: Stability analysis and experiments. Robotics and Autonomous Systems, 75:398–408, 2016.

Navvab Kashiri, Nikos G Tsagarakis, Michäel Van Damme, Bram Vanderborght, and Darwin G Caldwell. Proxy-based slidingmode control of compliant joint manipulators. In Informatics in Control, Automation and Robotics, pages 241–257. Springer, Cham, 2016.

Małgorzata Kameduła, Navvab Kashiri, Darwin G. Caldwell, and Nikos G. Tsagarakis. A compliant actuation dynamics gazebo-ros plugin for effective simulation of soft robotics systems: Application to centauro robot. In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics, pages 485–491, 2016.

Navvab Kashiri, Matteo Laffranchi, Darwin Caldwell, and NikosTsagarakis. Dynamics and control of an anthropomorphic compliant arm equipped with friction clutches. IEEE/ASME Transactions on Mechatronics, 2016.

Emmanouil Spyrakos-Papastavridis, Navvab Kashiri, Jinoh Lee, Nikos G Tsagarakis, and Darwin G Caldwell. Online impedanceparameter tuning for compliant biped balancing. In 2015 IEEE RAS 15th International Conference on Humanoid Robots (Humanoids), pages 210–216. IEEE, 2015.

Navvab Kashiri, Gustavo A Medrano-Cerda, Nikos G Tsagarakis, Matteo Laffranchi, and Darwin Caldwell. Damping control ofvariable damping compliant actuators. In 2015 IEEE International Conference on Robotics and Automation (ICRA), pages 850–856. IEEE, 2015. 

Navvab Kashiri, Nikos G Tsagarakis, Michäel Van Damme, Bram Vanderborght, and Darwin G Caldwell. Enhanced physical in-teraction performance for compliant joint manipulators using proxy-based sliding mode control. In 2014 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO), volume 2, pages 175–183. IEEE, 2014.

Houman Dallali, Gustavo Medrano-Cerda, Navvab Kashiri, NikosTsagarakis, and Darwin Caldwell. Decentralized feedback design for a compliant robot arm. In 2014 European Modelling Symposium, pages 269–274. IEEE, 2014.

Navvab Kashiri, Matteo Laffranchi, Jinoh Lee, Nikos G Tsagarakis, Lisha Chen, and Darwin Caldwell. Real-time damping estima-tion for variable impedance actuators. In 2014 IEEE International Conference on Robotics and Automation (ICRA), pages 1072–1077. IEEE, 2014.

Loc Vo-Gia, Navvab Kashiri, Francesca Negrello, Nikos G Tsagarakis, and Darwin G Caldwell. Development of a 7dof soft manipulator arm for the compliant humanoid robot coman. In Robotics and Biomimetics (ROBIO), 2014 IEEE International Con-ference on, pages 1106–1111, 2014.

Navvab Kashiri, Matteo Laffranchi, Nikos G Tsagarakis, AlessioMargan, and Darwin G Caldwell. Physical interaction detection and control of compliant manipulators equipped with friction clutches. In 2014 IEEE International Conference on Robotics and Automation (ICRA), pages 1066–1071. IEEE, 2014.

Matteo Laffranchi, Lisha Chen, Navvab Kashiri, Jinoh Lee, Nikos G Tsagarakis, and Darwin G Caldwell. Development andcontrol of a series elastic actuator equipped with a semi active friction damper for human friendly robots. Robotics and Autonomous Systems, 62(12):1827–1836, 2014.

Jinoh Lee, Matteo Laffranchi, Navvab Kashiri, Nikolaos G Tsagarakis, and Darwin G Caldwell. Model-free force tracking control of piezoelectric actuators: application to variable damping actuator. In 2014 IEEE International Conference on Roboticsand Automation (ICRA), pages 2283–2289. IEEE, 2014.

Lisha Chen, Matteo Laffranchi, Jinoh Lee, Navvab Kashiri, Nikos G Tsagarakis, and Darwin G Caldwell. Link position control of a compliant actuator with unknown transmission friction torque. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 4058–4064. IEEE, 2013.

Navvab Kashiri, Nikos G Tsagarakis, Matteo Laffranchi, and Darwin G Caldwell. On the stiffness design of intrinsic compliantmanipulators. In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pages 1306–1311. IEEE, 2013.

Navvab Kashiri, Matteo Laffranchi, Nikos G Tsagarakis, Irene Sardellitti, and Darwin G Caldwell. Dynamic modeling and adaptable control of the compact™arm. In 2013 IEEE International Conference on Mechatronics (ICM), pages 477–482. IEEE,2013.

Lisha Chen, Manolo Garabini, Matteo Laffranchi, Navvab Kashiri,Nikos G Tsagarakis, Antonio Bicchi, and Darwin G Caldwell. Optimal control for maximizing velocity of the compact™compliant actuator. In 2013 IEEE International Conference on Robotics and Automation, pages 516–522. IEEE, 2013.

Navvab Kashiri, Matteo Laffranchi, Nikos G. Tsagarakis, and Darwin G. Caldwell. Precise and adaptable motion control of a com-pliant manipulator provided with variable clutch actuation systems. In 5th International Workshop on Human-Friendly Robotics, 2012.

Mohammad Hassan Ghasemi, Navvab Kashiri, and Morteza Dardel. Time-optimal trajectory planning of robot manipulators in point-to-point motion using an indirect method. Proceedingsof the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, page 0954406211415321, 2011.

Mohammad Hassan Ghasemi, Navvab Kashiri*, and Morteza Dardel. Near time-optimal control of redundant manipulators along a specified path with jerks constraint. Advanced Robotics, 25(18):2319–2339, 2011.

Navvab Kashiri, Mohammad Hassan Ghasemi, and Morteza Dardel. An iterative method for time optimal control of dynamicsystems. Archives of Control Sciences, 21(1):5–23, 2011.

Reza Akbari Alashti and Navvab Kashiri. The effect of tempera-ture variation on the free vibration of a simply supported curved sandwich beam with a flexible core. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 225(3):537–547, 2011.

Modular configurable robot, process and corresponding IT product

20th International Conference on Advanced Robotics (ICAR), 2021. 

IEEE International Conference on Robotics and Automation (ICRA), 2021.

1st International Electronic Conference on Actuator Technology: Materials, Devices and Applications (IeCAT), 2020.

2019 19th International Conference on Advanced Robotics (ICAR), 2019.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.

IEEE International Conference on Robotics and Automation (ICRA), pages1248–1254. IEEE, 2017.

22 IEEE International Conference on Methods and Models in Automation and Robotics (MMAR), 2017.

13th International Conference on Informatics in Control, Automation and Robotics, 2016.

IEEE International Conference on Robotics and Automation (ICRA), 2015. 

11th International Conference on Informatics in Control, Automation and Robotics (ICINCO, 2014.

IEEE International Conference on Robotics and Automation (ICRA), 2014.

EEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013.

IEEE International Conference on Mechatronics (ICM), 2013.

5th International Workshop on Human-Friendly Robotics, 2012.