16 citations · 116 across the 50 of their papers we have counts for
57 papers
Modular Inverse Dynamics and Wrench Recovery for Closed-Chain Mechanisms Using Path Assembly
Mohammad Dastranj, Jouni Mattila
Rigid closed chains can admit indeterminate internal reactions even when their motion is fully specified. This paper develops a modular inverse-dynamics workflow that combines path…
From LLM Plans to Authorized Motion: Execution-Bound Authorization for Excavators
Mehdi Heydari Shahna, Seihun Kim, Soyi Jung +3
An LLM-directed excavator can execute mechanically feasible motion whose destination or authority no longer matches the operator's approval. We propose execution-bound authorizatio…
Composable Dynamics for Cooperative Humanoids: A RoboCompiler Extension
Mehdi Heydari Shahna, Jouni Mattila
Physically connected humanoids need consistent dynamics for internal actuator loops, inter-robot forces, and changing ground supports. We extend RoboCompiler with member-wise dynam…
RoboCompiler: Graph-Native Compilation of Closed-Chain Robots for Consistent Modeling, Control, and Simulation
Mehdi Heydari Shahna, Joongheon Kim, Jouni Mattila
Robots with kinematic loops, coupled actuators, and changing contacts require consistent models of configuration, motion, force, and dynamics. Yet these interfaces are often recons…
IL-ACT: Imitation Learning with Adaptive Cartesian Tracking Control for a 30-ton Excavator
Mehdi Heydari Shahna, Seihun Kim, Soyi Jung +3
Autonomous excavator control is challenged by coupled kinematics, actuation lag, and uncertainty. We propose imitation learning and adaptive Cartesian tracking (IL-ACT), a novel mo…
Modular Kinematic Reduction of Closed-Chain Mechanisms Using Path Assembly and Defect Homotopy
Mohammad Dastranj, Jouni Mattila
Closed kinematic chains complicate modular modeling by coupling active and passive coordinates through nonlinear closure constraints. This paper presents a Path-Assembled Closure D…
Pose-Parameterized Motion Planning and CBF-QP Self-Collision Filtering for a Long-Reach Drilling Boom
Mehdi Heydari Shahna, Tuomo Kivelä, Jouni Mattila
Long-reach drilling booms must reach successive poses without self-collision. Moving from operator-supervised control toward autonomy requires collision-aware motion planning and e…
Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators
S. Yaqubi, J. Mattila, M. Hejrati
An invariant extended Kalman filter (IEKF) is developed for state estimation of serial rigid manipulators with an arbitrary number of links, formulated entirely within the Lie grou…
Actuator-Aware Inverse Kinematics with Joint-Limit Admissibility for Torque-Controlled Redundant Robots
Mohammad Dastranj, Mahdi Hejrati, Jouni Mattila
This paper proposes actuator-aware inverse kinematics for torque-controlled redundant robots under joint-limit constraints. In the considered architecture, the inverse-kinematic ou…
Modular Lie Algebraic PDE Control of Multibody Flexible Manipulators
Sadeq Yaqubi, Jouni Mattila
This paper presents a subsystem-based adaptive control framework for serial flexible manipulators with an arbitrary number of links, in which the elastic deformation PDE of each li…
Adaptive Modular Geometric Control of Robotic Manipulators
Mahdi Hejrati, Amir Hossein Barjini, Gokhan Alcan +1
This paper develops an adaptive modular geometric control framework for robotic manipulators with uncertain inertial parameters. The manipulator is decomposed into rigid-body and j…
NMPC-Augmented Visual Navigation and Safe Learning Control for Large-Scale Mobile Robots
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
A large-scale mobile robot (LSMR) is a high-order multibody system that often operates on loose, unconsolidated terrain, which reduces traction. This paper presents a comprehensive…
Reversible Simplex Supervision with Post-Action Debt Accounting for Goal-Reaching RL
Mehdi Heydari Shahna, Joongheon Kim, Jouni Mattila
Deploying reinforcement learning (RL) on multi-tonne robots calls for supervisory mechanisms that address both operational safety and progress toward task completion. However, repe…
Vision-based Goal-Reaching Control for Mobile Robots Using a Hierarchical Learning Framework
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
Reinforcement learning (RL) has strong potential in robotics, but exploration-based training complicates safe deployment on large-scale robots. For such applications, this paper pr…
Full-Dynamics Real-Time Nonlinear Model Predictive Control of Heavy-Duty Hydraulic Manipulator for Trajectory Tracking Tasks
Alvaro Paz, Mahdi Hejrati, Pauli Mustalahti +1
Heavy-duty hydraulic manipulators (HHMs) operate under strict physical and safety-critical constraints due to their large size, high power, and complex nonlinear dynamics. Ensuring…
Real-Time Nonlinear Model Predictive Control of Heavy-Duty Skid-Steered Mobile Platform for Trajectory Tracking Tasks
Alvaro Paz, Pauli Mustalahti, Mohammad Dastranj +1
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time perform…
AI-Enhanced Kinematic Modeling of Flexible Manipulators Using Multi-IMU Sensor Fusion
Amir Hossein Barjini, Jouni Mattila
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMU…
Inertia Partitioning Modular Robust Control Framework for Reconfigurable Multibody Systems
Mohammad Dastranj, Jouni Mattila
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with close…
All-Electric Heavy-Duty Robotic Manipulator: Actuator Configuration Optimization and Sensorless Control
Mohammad Bahari, Amir Hossein Barjini, Pauli Mustalahti +1
This paper presents a unified framework that integrates modeling, optimization, and sensorless control of an all-electric heavy-duty robotic manipulator (HDRM) driven by electromec…
Synthesis of Deep Neural Networks with Safe Robust Adaptive Control for Reliable Operation of Wheeled Mobile Robots
Mehdi Heydari Shahna, Jouni Mattila
Deep neural networks (DNNs) can enable precise control while maintaining low computational costs by circumventing the need for dynamic modeling. However, the deployment of such bla…
Immersive Teleoperation of Beyond-Human-Scale Robotic Manipulators: Challenges and Future Directions
Mahdi Hejrati, Jouni Mattila
Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gai…
All-Electric Heavy-Duty Robotic Manipulator: Surrogate-Enhanced Modeling and Adaptive Modular Control
Amir Hossein Barjini, Mohammad Bahari, Mahdi Hejrati +1
This paper presents a unified system-level modeling and control framework for an all-electric heavy-duty robotic manipulator (HDRM) driven by electromechanical linear actuators (EM…
Deep Reinforcement Learning-Based Motion Planning and PDE Control for Flexible Manipulators
Amir Hossein Barjini, Seyed Adel Alizadeh Kolagar, Sadeq Yaqubi +1
This article presents a motion planning and control framework for flexible robotic manipulators, integrating deep reinforcement learning (DRL) with a nonlinear partial differential…
LiDAR-Inertial SLAM-Based Navigation and Safety-Oriented AI-Driven Control System for Skid-Steer Robots
Mehdi Heydari Shahna, Eemil Haaparanta, Pauli Mustalahti +1
Integrating artificial intelligence (AI) and stochastic technologies into the mobile robot navigation and control (MRNC) framework while adhering to rigorous safety standards prese…