28 citations · 29 across the 7 of their papers we have counts for
7 papers
Learning-Based Progressive Barrier Control for Robot Manipulators with Initial Errors Outside Prescribed Tracking Bounds
Hamed Rahimi Nohooji, Abolfazl Zaraki, Danial Zafaranchizadeh Moghaddam +1
Robot manipulators may start a new task with a tracking error larger than the prescribed tolerance. Conventional barrier controllers generally require the initial error to lie with…
Hierarchical Performance-Based Design Optimization Framework for Soft Grippers
Hamed Rahimi Nohooji, Holger Voos
This paper presents a hierarchical, performance-based framework for the design optimization of multi-fingered soft grippers. To address the need for systematically defined performa…
Progressive Barrier Lyapunov Functions for Nonlinear Constrained Control Systems
Hamed Rahimi Nohooji, Holger Voos
This paper introduces the Progressive Barrier Lyapunov Function (p-BLF) for output- and full-state-constrained nonlinear control systems. Unlike traditional BLF methods, where cont…
Adaptive Trajectory Optimization for Task-Specific Human-Robot Collaboration
Hamed Rahimi Nohooji, Holger Voos
This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike c…
Synthetic Dataset Generation and Learning From Demonstration Applied to Industrial Manipulation
Alireza Barekatain, Hamed Rahimi Nohooji, Holger Voos
The aim of this study is to investigate an automated industrial manipulation pipeline, where assembly tasks can be flexibly adapted to production without the need for a robotic exp…
Nussbaum Function Based Approach for Tracking Control of Robot Manipulators
Hamed Rahimi Nohooji, Holger Voos
This paper introduces a novel Nussbaum function-based PID control for robotic manipulators. The integration of the Nussbaum function into the PID framework provides a solution with…
TRIGGER: A Lightweight Universal Jamming Gripper for Aerial Grasping
Paul Kremer, Hamed Rahimi Nohooji, Jose Luis Sanchez-Lopez +1
This work introduces TRIGGER, the first lighTweight univeRsal jammInG Gripper for aErial gRasping. TRIGGER is an omnidirectional, landing-capable aerial grasping system with resili…