12 citations · 40 across the 13 of their papers we have counts for
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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…
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…
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…
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…
Impact-Resilient Orchestrated Robust Controller for Heavy-duty Hydraulic Manipulators
Mahdi Hejrati, Jouni Mattila
Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental c…
Orchestrated Robust Controller for Precision Control of Heavy-duty Hydraulic Manipulators
Mahdi Hejrati, Jouni Mattila
Vast industrial investment along with increased academic research on heavy-duty hydraulic manipulators has unavoidably paved the way for their automatization, necessitating the des…
Nonlinear Subsystem-based Adaptive Impedance Control of Physical Human-Robot-Environment Interaction in Contact-rich Tasks
Mahdi Hejrati, Jouni Mattila
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stabil…
Physical Human-Robot Interaction Control of an Upper Limb Exoskeleton with a Decentralized Neuro-Adaptive Control Scheme
Mahdi Hejrati, Jouni Mattila
Within the concept of physical human-robot interaction (pHRI), the most important criterion is the safety of the human operator interacting with a high degree of freedom (DoF) robo…
Decentralized Nonlinear Control of Redundant Upper Limb Exoskeleton with Natural Adaptation Law
Mahdi Hejrati, Jouni Mattila
The aim of this work is to utilize an adaptive decentralized control method called virtual decomposition control (VDC) to control the orientation and position of the end-effector o…