7 citations · 35 across the 19 of their papers we have counts for
19 papers
A Unified Framework for Multi-Contact Path Planning in the Rolling Robot Systems
Qing Yu, Mikhail Svinin, Seyed Amir Tafrishi
Rolling motion planning is challenging because rolling contact imposes nonholonomic constraints and the configuration evolves on a curved manifold. The problem becomes substantiall…
PenduMorph: Development and Motion Analysis of Pendulum-Actuated Rolling Reconfigurable Spherical Robot with Magnetic-Coupling
Aung Myat, Peter Noyce, May Forgan +2
This paper presents "PenduMorph", a wireless reconfigurable rolling spherical robot designed as a modular platform for enclosed locomotion and inter-module interaction in challengi…
SPiralRoll: A Novel Adjustable-Stiffness Underactuated 3-DoF Joint with Torsion Springs for Rolling Robots
Louis Keith, George Ripper, and Seyed Amir Tafrishi
Compliant mechanisms are important in robotics because they can improve adaptability, safety, and energy efficiency while reducing hardware complexity. This paper presents SPiralRo…
Full Nonlinear Nonholonomic Dynamics and Motion Analysis of a 3-DoF Underactuated Spherical Rolling Robot
Lakshmesha Krishnapa, Ahnaf Sharaar Mazahar, Seyed Amir Tafrishi
This paper presents a full nonlinear constrained dynamic model of MonoRollBot, a novel 3-DoF spherical rolling robot driven by a single motor, a lead-screw transmission, and a spri…
Developing a Mono-Actuated Compliant GeoGami Robot
Archie Webster, Lee Skull, Seyed Amir Tafrishi
This paper presents the design of a new soft-rigid robotic platform, "GeoGami". We leverage origami surface capabilities to achieve shape contraction and to support locomotion with…
A Survey on Path Planning Problem of Rolling Contacts: Approaches, Applications and Future Challenges
Seyed Amir Tafrishi, Mikhail Svinin, Kenji Tahara
This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which ar…
Novel Non-Prehensile Rolling Problem: Modelling and Balance Control of Pendulum-Driven Reconfigurable Disks Motion with Magnetic Coupling in Simulation
Ollie Wiltshire, Seyed Amir Tafrishi
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving…
MonoRollBot: 3-DOF Spherical Robot with Underactuated Single Compliant Actuator Design
Zhiwei Liu, Seyed Amir Tafrishi
Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated roll…
Design and Motion Analysis of a Reconfigurable Pendulum-Based Rolling Disk Robot with Magnetic Coupling
Ollie Wiltshire, Seyed Amir Tafrishi
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations.…
PSM: A Predictive Safety Model for Body Motion Based On the Spring-Damper Pendulum
Seyed Amir Tafrishi, Ankit A. Ravankar, Yasuhisa Hirata
Quantifying the safety of the human body orientation is an important issue in human-robot interaction. Knowing the changing physical constraints on human motion can improve inspect…
Discretization and Stabilization of Energy-Based Controller for Period Switching Control and Flexible Scheduling
Seyed Amir Tafrishi, Xiaotian Dai, Yasuhisa Hirata +1
Emerging advanced control applications, with increased complexity in software but limited computing resources, suggest that real-time controllers should have adaptable designs. The…
A Novel Assistive Controller Based on Differential Geometry for Users of the Differential-Drive Wheeled Mobile Robots
Seyed Amir Tafrishi, Ankit A. Ravankar, Jose Salazar +1
Certain wheeled mobile robots e.g., electric wheelchairs, can operate through indirect joystick controls from users. Correct steering angle becomes essential when the user should d…
Motion Planning of a Spin-Rolling Sphere on a Plane
Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto +1
The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight lin…
Darboux-Frame-Based Parametrization for a Spin-Rolling Sphere on a Plane: A Nonlinear Transformation of Underactuated System to Fully-Actuated Model
Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto
This paper presents a new kinematic model based on the Darboux frame for motion control and planning. In this work, we show that an underactuated model of a spin-rolling sphere on…
Line-Circle-Square (LCS): A Multilayered Geometric Filter for Edge-Based Detection
Seyed Amir Tafrishi, Xiaotian Dai, Vahid Esmaeilzadeh Kandjani
This paper presents a state-of-the-art filter that reduces the complexity in object detection, tracking and mapping applications. Existing edge detection and tracking methods are p…
Singularity-Free Inverse Dynamics for Underactuated Systems with a Rotating Mass
Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto
Motion control of underactuated systems through the inverse dynamics contains configuration singularities. These limitations in configuration space mainly stem from the inertial co…
Line-Circle: A Geometric Filter for Single Camera Edge-Based Object Detection
Seyed Amir Tafrishi, Vahid E. Kandjani
This paper presents a state-of-the-art approach in object detection for being applied in future SLAM problems. Although, many SLAM methods are proposed to create suitable autonomy…
Dynamical Behavior Investigation and Analysis of Novel Mechanism for Simulated Spherical Robot named "RollRoller"
Seyed Amir Tafrishi, Sandor M. Veres, Esmaeil Esmaeilzadeh +1
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essent…
"RollRoller" Novel Spherical Mobile Robot Basic Dynamical Analysis and Motion Simulations
Seyed Amir Tafrishi
This paper introduces novel air actuated spherical robot called "RollRoller". The RollRoller robot consists of two essential parts: tubes covered with a shell as a frame and mechan…