Robotics Research Lab

Vita

Atabak Nezhadfard (Nejadfard) is currently a Ph.D. candidate in the Department of Computer Science at the University of Kaiserslautern since October 2013. His research field is focused on design and control of the bipedal robots particularly the adoption of biomechanics concepts like tendon elasticity and bi-articular actuation. Due to his graduate studies in control theory, he has developed the mechatronics and control for robots in a variety of applications. He is currently focused on the control of series elastic actuators and the proper utilization of actuator dynamics in the control of bipedal robots.

Publications

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  • Biologically Inspired Bipedal Locomotion - From Control Concept to Human-Like Biped.
    Patrick Vonwirth, Atabak Nejadfard and Karsten Berns
    Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings”, S. 3 - 14. (2020)
  • Integration and Design of Actuation Redundancy in Robotic Leg CARL Based on the Physiology of Biarticular Muscles.
    Atabak Nezhadfard
    (2020)
  • SLIP-Based Concept of Combined Limb and Body Control of Force-Driven Robots.
    Patrick Vonwirth, Atabak Nejadfard, Krzysztof Mianowski and Karsten Berns
    Advances in Service and Industrial Robotics, Vol. 84, S. 547 - 556. (2020)
  • Design of the musculoskeletal leg based on the physiology of mono-articular and biarticular muscles in the human leg.
    Atabak Nejadfard, Steffen Sch"utz, Krzysztof Mianowski, Patrick Vonwirth and Karsten Berns
    Bioinspiration & biomimetics, Vol. 14, Nr. 6, S. 066002. (2019)
  • FPGA-based Embedded System Designed for the Deployment in the Compliant Robotic Leg CARL.
    Steffen Schütz, Atabak Nejadfard, Max Reichardt and Karsten Berns
    Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2, S. 537 - 543. (2019)
  • Coordination of the Biarticular Actuators Based on Instant Power in an Explosive Jump Experiment.
    Atabak Nejadfard, Steffen Schütz, Patrick Vonwirth, Krzysztof Mianowski and Karsten Berns
    IEEE International Conference on Advanced Intelligent Mechatronics (AIM), (2018)
  • Moment Arm Analysis of the Biarticular Actuators in Compliant Robotic Leg CARL.
    Atabak Nejadfard, Steffen Schütz, Patrick Vonwirth, Krzysztof Mianowski and Berns Karsten
    Conference on Biomimetic and Biohybrid Systems, S. 348 - 360. (2018)
  • CARL – A Compliant Robotic Leg Featuring Mono- and Biarticular Actuation.
    Steffen Schütz, Atabak Nejadfard, Krzysztof Mianowski, Patrick Vonwirth and Karsten Berns
    IEEE-RAS International Conference on Humanoid Robots, S. 289 - 296. (2017)
  • Unmanned Ground Robots for Rescue Tasks.
    Karsten Berns, Atabak Nezhadfard, Massimo Tosa, Haris Balta and Geert Cubber
    Search and Resuce Robotics - From Theory to Practice, S. 53 - 76. (2017)
    http://www.intechopen.com/articles/show/title/unmanned-ground-robots-for-rescue-tasks ISBN: 978-953-51-3376-6
  • An Intuitive and Comprehensive Two-Load Model for Series Elastic Actuators.
    Steffen Schütz, Atabak Nejadfard, Christian Kötting and Karsten Berns
    IEEE 14th International Workshop on Advanced Motion Control (AMC), (2016)
  • Influence of Loads and Design Parameters on the Closed-Loop Performance of Series Elastic Actuators.
    Steffen Schütz, Atabak Nejadfard and Karsten Berns
    IEEE International Conference on Robotics and Biomimetics (ROBIO), (2016)
  • RRLAB SEA – A Highly Integrated Compliant Actuator with Minimised Reflected Inertia.
    Steffen Schütz, Krzysztof Mianowski, Christian Kötting, Atabak Nejadfard, Max Reichardt and Karsten Berns
    IEEE International Conference on Advanced Intelligent Mechatronics (AIM), (2016)
  • Design of Safe Reactional Controller for Chamber Pressure in Climbing Robot CREA.
    Atabak Nejadfard, Steffen Schütz, Daniel Schmidt and Karsten Berns
    11th International Conference on Informatics in Control, Automation and Robotics (ICINCO), S. 81 - 89. (2014)
  • A centralized potential field method for stable operation of a multi-robot dome inspection, repair, and maintenance system.
    Kourosch Naderi, Atabak Nejadfard, Hadi Moradi and Majid Ahmadabadi
    First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), S. 96 - 101. (2013)
  • Friction compensation of double inverted pendulum on a cart using locally linear neuro-fuzzy model.
    Atabak Nejadfard, Mohammad Yazdanpanah and Iraj Hassanzadeh
    Neural Computing and Applications, Vol. 22, Nr. 2, S. 337 - 347. (2013)
  • A Multivariable Adaptive Control Approach for Stabilization of a Cart-Type Double Inverted Pendulum.
    Iraj Hassanzadeh, Atabak Nejadfard and Mohammad Zadi
    Mathematical Problems in Engineering, Vol. 2011, Nr. 970786, (2011)
  • A multi-robot system for dome inspection and maintenance. Concept and stability analysis.
    Atabak Nejadfard, Hadi Moradi and Majid Ahamadabadi
    International Conference on Robotics and Biomimetics (ROBIO), S. 853 - 858. (2011)

 

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