H. Zabihi
Papers
1
Total Citations
10
H-Index
1
About
H. Zabihi is a robotics researcher whose work centers on the dynamics and control of underactuated mobile robots, with a particular focus on the Ballbot—a robot that balances and moves on a single spherical wheel. In their most cited work, "Open-loop trajectory planning and nonlinear control for underactuated spherical wheel mobile robot (Ballbot)" (2016, 10 citations), Zabihi tackles the complex challenge of modeling and controlling this inherently unstable system. They develop a three-dimensional dynamic model that accounts for input coupling and friction, and propose a novel approach for accurate trajectory generation along linear and circular paths. This contribution is significant because it addresses the fundamental difficulties of planning and executing stable motion for a robot with fewer actuators than degrees of freedom. While the citation count is modest, the work represents a foundational step in Ballbot research, offering a rigorous framework for open-loop control that can inform future studies in nonlinear control and underactuated robotics. Zabihi’s research is valuable for students and engineers interested in the intersection of dynamic modeling, trajectory planning, and control theory for nonholonomic systems.
Research Focus
Key Achievements
Top Papers
- 1