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Date Description
September 2021 Paper got accepted to to AAAI Fall Symposium on Artificial Intelligence for Human-Robot Interaction (AI-HRI2021).
September 2021 Made this website as an overview of my PhD research on ergonomically intelligent physical human-robot interaction.
July 2021 Short paper got accepted to RSS 2021 workshop Robotics For People: Perspectives on Interaction, Learning and Safety.
June 2021 Paper got accepted to IEEE CASE 2021.
April 2021 Had an invited talk about my research for LARSEN team at INRIA Nancy on April 8.
April 2021 Selected as the US General Chair of HRI Pioneers 2022, Sapporo, Japan.
March 2021 Presented my work on Ergonomically Intelligent Teleoperation Systems in HRI Pioneers 2021 Poster Session at HRI 2021 conference. Check the Paper and Poster.
February 2021 Paper got accepted to ICRA 2021. Check the video and paper website.
February 2021 Check out our recently-published paper on IJRR website: A Model Predictive Approach for Online Mobile Manipulation of Non-Holonomic Objects Using Learned Dynamics.
December 2020 Been awarded as HRI Pioneers 2021 for my PhD research.
December 2020 Paper got accepted to IJRR.

Recent Posts

OpenPose has represented the first real-time multi-person system to jointly detect human body, hand, facial, and foot keypoints (in …

Installing Guide : Python 2 for Ubuntu 16.04/18.04 with ROS Kinetic/Melodic 1) move to your catkin workspace cd ~/catkin_ws/src/ 2) …

Experience

Check my CV for more details

 
 
 
 
 
May 2019 – July 2019
San Ramon, CA

Robotics Researcher Intern

Omron Research Center of America

Reactive trajectory planning for industrial robots
 
 
 
 
 
May 2018 – Present
Salt Lake City, UT

Graduate Research Assistant

Utah Learning Lab for Manipulation Autonomy, University of Utah

Risk-aware motion and manipulation planning for mobile robots, Posture estimation and optimization in physical HRI, and learning common sense for robots from infants behaviour
 
 
 
 
 
January 2016 – Present
Salt Lake City, UT

Graduate Research Assistant

Laboratory of Ergonomics and Safety, University of Utah

Posture estimation and optimization in teleoperation, and safety in HRI
 
 
 
 
 
December 2011 – December 2015
Tehran, Iran

Graduate Research Assistant

Human-Robot Interaction Lab, University of Tehran

Fault-tolerant and optimal motion planning, parallel robots, and haptics
 
 
 
 
 
July 2008 – September 2011
Tehran, Iran

Research Assistant/Lab Manager

Virtual Reality Lab, K.N.T. University of Technology

Haptic robots, and driving simulators

Recent Publications

More Publications

Ergonomics and human comfort are essential concerns in physical human-robot interaction applications, and common practical methods …

Ergonomics and human comfort are essential concerns in physical human-robot interaction applications. Defining an accurate and …

Ergonomic assessment of human posture plays a vital role in understanding work-related safety and health. Current posture estimation …

Ergonomics and human comfort are essential concerns in physical human-robot interaction (p-HRI) applications such as teleoperation. We …

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

Research Projects

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Risk-Aware Planning for Patient Fall Prevention

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

Human Posture Optimization in Teleoperation

Postural Optimization for Ergonomically Intelligent p-HRI

Human Posture Estimation in Teleoperation

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

Mobile Manipulation Planning

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

The Search for Twitter Spam Bots

Find Twitter spam bots using machile learning algorithms

Manipulation Planning of A Box Using A Mobile Robot

Collision-Free push planning for manipulation of A box with a mobile robot

Mobile Robot Visual Localization and 3D Map Generation

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

LQR Control of a Double-Inverted Pendulum

Design, develop, and LQR control of a double-inverted pendulum on a cart

Safe Motion Planning in Shared Autonomy

Safe and human-aware optimal and fault tolerant motion planning in human-robot intearction

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

QuattroTaar 4-DOF Parallel Robot

Design, develop, and kinematic analysis of 4-DOF parallel robot

Progressive Growing Neural Gas Network (PGNGN)

PGNGN algorithm for determining singularity-free workspace of parallel robots

Cheshm-e-Chabok 2-DOF Parallel Robot

Design, develop, kinematic and dynamic analysis of a 2-DOF spherical parallel robot

Cheshm-e-Chabok 3-DOF Parallel Robot

Design, develop, kinematic and dynamic analysis of a decoupled 3-DOF parallel robot

A Fully-Decoupled Cartesian 3-PRRR Parallel Robot

Design, develop, kinematic and dynamic analysis of a decoupled 3-DOF parallel robot

A Pneumatic 6-DOF Gough-Stewart Robot

Design, and develop a pneumatic 6-DOF Gough-Stewart parallel robot

Bus Driving Simulator

Design a novel 4-DOF moving platform for bus driving simulators

VirSense Haptic Device

Design and developing VirSense, a novel haptic device with automatic gravity compensation and fixed-base actuators

Recent & Upcoming Talks

Ergonomics and human comfort are essential concerns in physical human-robot interaction applications. Defining an accurate and …

Ergonomics and human comfort are essential concerns in physical human-robot interaction (p-HRI) applications such as teleoperation. We …

Ergonomic analysis of human posture plays a vital role in long-term, work-related safety and health. Since application of physical …

An overview on most recent researches in the area of improving human safety and ergonomics in human-robot interaction

As human and robot collaboration become more intimate, and more intelligent robots are being used in both healthcare and manufacturing …

Awards and Honors

Date Description
2021 IEEE/ACM HRI Pioneer 2021
2019 American Society of Safety Professionals (ASSP) Foundation Scholarship
2019 Dr. Paul Richards’s Safe Workplace Scholarship
2018 Graduate Student Travel Assistance award, Graduate School, The University of Utah
2018 American Society of Safety Professionals (ASSP) Foundation Scholarship
2018 Dr. Paul Richards’s Safe Workplace Scholarship
2017 Dr. Paul Richards’s Safe Workplace Scholarship
2014 First place in Senior Demo league in RoboCup IranOpen

Teaching

University of Utah

  • ME EN 2550: Prob & Stats for Eng (TA)
  • ME EN 1010: Computer-based Problem Solving for Engineering Systems (TA)

University of Tehran

  • Parallel Robots (TA)
  • Advanced Robotics (TA)

Contact