Mahdi Salehi
Papers
2
Total Citations
17
H-Index
2
About
Mahdi Salehi is a leading researcher in the field of robotics, with a primary focus on the control and dynamics of flexible-base moving manipulators. His work addresses the critical challenge of maintaining precision and stability in robotic systems where the base is not rigid, a common scenario in mobile and field robotics. Salehi’s major contributions lie in the development of advanced impedance control methods, which define the relationship between force and motion when a robot interacts with its environment. In his most-cited work (2008, 12 citations), he pioneered a novel approach that combines singular perturbation theory with sliding mode control to decouple the slow and fast dynamics of flexible-base robots, and then used particle swarm optimization (PSO) to tune controller gains. This was followed by a high-precision impedance control method (2009, 5 citations) that further refined force-displacement relations for contact tasks. By addressing the inherent instability of non-rigid bases, Salehi’s research has laid essential groundwork for more adaptable and reliable robotic manipulators, impacting applications from industrial automation to assistive robotics.
Research Focus
Key Achievements
Top Papers
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