The main focus of Dynamics and Control department in SURENA III project is on the locomotion planning, kinematics and dynamics analyses of the gaits, and low-level control as well as online modification of the generated walking patterns. Being in a close relationship with other departments, the activities of this group may be considered as the project core, where these activities should bring a harmony between other teams. This statement may be demonstrated by reviewing the various project phases, from the beginning when this team was in close collaboration with mechanical design and fabrication as well as electronic departments for hardware selection, to the final stage where participation with intelligence department introduces the robot as an autonomous walker. The main advancements that have been achieved by dynamic and control department activities are walking on the terrains with various surface characteristics, stair and slope ascending and descending, online adaptation for walking on obstacles with unknown heights, grasping and manipulating the objects, and performing some exhibitive gestures. This department has welcomed 12 members during its past three years’ activity.

Head of Dynamic & control Group
khadiv_majid

Majid Khadiv received his BS degree in Mechanical Engineering from Isfahan University of Technology (IUT), in 2010, and his MS degree in Mechanical Engineering from K. N. Toosi University of Technology, Tehran, Iran in 2012. His research areas during his M.Sc. study included dynamics modeling, and feasible gait planning of bipedal robots, which are still one of his research interests. Currently, he is pursuing towards Ph.D. degree in Mechanical Engineering at K. N. Toosi University of Technology, Tehran, Iran. Meanwhile, he is a member of dynamics and control department in CAST, University of Tehran, where he has been carrying out his research on the robot SURENA III, for past three years.

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Members
sadedel_majid

Majid Sadedel

PHD Candidate

Mechanical Engineering

University of Tehran

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mansoori1

Saeed Mansoori

PHD Candidate

Mechanical Engineering

sharif university of technology

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Untitled-12

Mohammad Mahdavian

BSc Candidate

Mechanical Engineering

University of Tehran

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shahrokhshahi_ahmadreza

Ahmadreza Shahrokhshahi

MASc

Mechanical Engineering

University of Tehran

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taherifard

Ali  Taherifar

PHD Candidate

Mechanical Engineering

sharif university of technology

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hasanzadeh_ameneh

Ameneh Hasanzadeh

BSc Candidate

Mechanical Engineering

University of Tehran

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mazrae1

Negar Mazrae

BSc

Mechanical Engineering

University of Tehran

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Other members
pishbin1

Ali Pishbin

BSc Candidate

Mechanical Engineering

University of Tehran

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jamali

Niloofar Jamali

MASc Candidate

Mechanical Engineering

University of Tehran

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bilesan

Alireza Bilesan

BSc

Mechanical Engineering

University of Tehran

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ahmadi-1

Ali Ahmadi

BSc

Mechanical Engineering

University of Tehran

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