16 citations · 116 across the 50 of their papers we have counts for
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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…
Desired Impedance Allocation for Robotic Systems
Mahdi Hejrati, Jouni Mattila
Virtual Decomposition Control (VDC) has emerged as a powerful modular framework for real-world robotic control, particularly in contact-rich tasks. Despite its widespread use, VDC…
Robust Immersive Bilateral Teleoperation of Beyond-Human-Scale Systems with Enhanced Transparency and Sense of Embodiment
Mahdi Hejrati, Pauli Mustalahti, Jouni Mattila
This paper presents an immersive bilateral teleoperation framework for beyond-human-scale manipulators, combining motion/force transparency with enhanced operator embodiment throug…
Anti-Slip AI-Driven Model-Free Control with Global Exponential Stability in Skid-Steering Robots
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
Undesired lateral and longitudinal wheel slippage can disrupt a mobile robot's heading angle, traction, and, eventually, desired motion. This issue makes the robotization and accur…
Increasing the Task Flexibility of Heavy-Duty Manipulators Using Visual 6D Pose Estimation of Objects
Petri Mäkinen, Pauli Mustalahti, Tuomo Kivelä +1
Recent advances in visual 6D pose estimation of objects using deep neural networks have enabled novel ways of vision-based control for heavy-duty robotic applications. In this stud…
Mechanic Modeling and Nonlinear Optimal Control of Actively Articulated Suspension of Mobile Heavy-Duty Manipulators
Alvaro Paz, Jouni Mattila
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabiliz…
Fault-Tolerant Control for System Availability and Continuous Operation in Heavy-Duty Wheeled Mobile Robots
Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila
When the control system in a heavy-duty wheeled mobile robot (HD-WMR) malfunctions, deviations from ideal motion occur, significantly heightening the risks of off-road instability…
Model Reference-Based Control with Guaranteed Predefined Performance for Uncertain Strict-Feedback Systems
Mehdi Heydari Shahna, Jukka-Pekka Humaloja, Jouni Mattila
To address the complexities posed by time- and state-varying uncertainties and the computation of analytic derivatives in strict-feedback form (SFF) systems, this study introduces…