Recent News

Date Description
October 2021 Received the Outstanding Graduate Student Researcher of the Year Award 2020-2021 from the Department of Mechanical Engineering at University of Utah
September 2021 Our paper titled “Ergonomically Intelligent Physical Human-Robot Interaction: Postural Estimation, Assessment, and Optimization” got accepted to AI-HRI 2021
July 2021 Our short paper titled “DULA: A Differentiable Ergonomics Model for Postural Optimization in Physical HRI” got accepted to RSS 2021 workshop Robotics For People: Perspectives on Interaction, Learning and Safety
June 2021 Our paper titled “Is The Leader Robot an Adequate Sensor for Posture Estimation and Ergonomic Assessment of A Human Teleoperator?” got accepted to IEEE CASE 2021
May 2021 Joined Embark Trucks as a Behavior Planning Software Engineer
February 2021 Our paper titled “Risk-Aware Decision Making in Service Robots to Minimize Risk of Patient Falls in Hospitals” got accepted to ICRA 2021 (Video)
December 2020 Our extended abstract on “Posture Estimation and Postural Optimization in Teleoperation” is selected for presentation at the HRI Pioneers 2021 as a part of the IEEE/ACM HRI conference
December 2020 Our paper titled “A Model Predictive Approach for Online Mobile Manipulation of Nonholonomic Objects using Learned Dynamics” got accepted to IJRR
December 2020 Passed my PhD dissertation defense (Video)
November 2020 Collaborative paper on hospital room layout optimization is accepted to ICORES 2021
October 2020 Our work on computational model of patients fall risk is featured by University of Utah, College of Engineering
September 2020 Our paper on patient fall risk evaluation got published in HERD journal
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Research Projects

Risk-Aware Planning

Risk-aware decision making to prevent high fall risk ambulation of patients

Human Posture Optimization

Postural Optimization for Ergonomically Intelligent Teleoperation Systems

Intelligent Hospital Patient Room Design

Optimization of hospital room layout with respect to patient fall risk

Patient Fall Risk Evaluation Model

Development of a patient fall risk model for hospital room

Mobile Manipulation Planning

Optimal Manipulation Planning for a mobile robot using Learned Objects Dynamic Models

Human Posture Estimation in p-HRI

Human posture estimation from a haptic device based on a partially-observable dynamic model

Robotic Ankle Foot Simulator

Hybrid force/position control of an ankle foot simulator

Fault-Tolerant Motion Planning

Fault-tolerant and collision-free motion planning of serial robots

Collision-Free Optimal Path Planning

Collision-Free optimal path planning of serial robots using MPC and convex optimization

Progressive Growing Neural Gas Networks (PGNGN)

PGNGN algorithm for determining singularity-free workspace of parallel robots

Course Projects

Motion Planning in Danger Zones

RRT for Quadrotor Motion Planning with Danger Zones in the Environment

Object Recognition

Object Recognition Using CNN

Mobile Robot Visual Localization and 3D Map Generation

Visual odometery using monocular camera and Kinect sensor for outdoor and indoor localization and map generation of a mobile robot

Recent Publications

Planning under uncertainty is a crucial capability for autonomous systems to operate reliably in uncertain and dynamic environments. …
Preprint Project

Ergonomic analysis of human posture plays a vital role in understanding long-term, work-related safety and health. Current analysis is …
Preprint Project

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with …
Preprint Code Project Video website

One of the most concerning and costly problems in hospitals is patients falls. We address this problem by introducing PAM, a patient …
PDF Code Dataset Project DOI

This paper proposes a new extension of the Growing Neural Gas Network, called the Progressive Growing Neural Gas Network (PGNGN), for …
PDF Project DOI

In this paper, fault-tolerant control of redundant planar serial manipulators has been investigated experimentally via an offline …
PDF Project DOI

In this paper, the problem of motion planning for parallel robots in the presence of static and dynamic obstacles has been …
PDF Project DOI

This paper is focused on the optimal motion planning of redundant planar serial robots, by avoiding obstacles within its workspace. A …
PDF Project DOI

In this paper, fault-tolerant control of redundant planar serial manipulators has been investigated experimentally via an offline …
PDF Project DOI

This paper deals with the collision-free path planning of planar parallel robot by avoiding mechanical interferences and obstacle …
PDF Project DOI

This paper is a revival for the so-called Growing Neural Gas Network (GNGN) approach in the context of kinematic analysis of parallel …
PDF Project DOI

Teaching

University of Utah

  • ME EN 2550: Prob & Stats for Eng
  • ME EN 1000: Introduction to Design for Engineering Systems
  • ME EN 1005: CAD Lab

University of Tehran

  • Advanced Mathematics
  • Advanced Robotics