Navvab Kashiri, Italy

Italian Institue of Technology

WG2-member

Interests:
Compliant sensors/modules/actuators,
Physical human-robot interaction,
Impedance/Torque Control.
Projects:
SAPHARI (development/control of a VIA torso; My involvement: actuation design, motion control, interaction detection and control)
WALK-MAN (development/control of a humanoid; My involvement: actuation design and control)
CENTAURO (development/control of a wheeled centaur robot; My involvement: robot architecture design, actuation design and control, whole-body control)
Cogimon (development/control of a humanoid; My involvement: actuation design and control)

  • Proxy-based position control of manipulators with passive compliant actuators: Stability analysis and experiments
  • Physical interaction detection and control of compliant manipulators equipped with friction clutches
  • On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder-Based Principles
  • Online impedance parameter tuning for compliant biped balancing
  • Development of a Human Size and Strength Compliant Bi-Manual Platform for Realistic Heavy Manipulation Tasks