Papers
6
Total Citations
55
H-Index
5
About
Saeid Samadi is a robotics researcher whose work focuses on advancing whole-body control and balance strategies for humanoid robots operating in complex, multi-contact environments. His major contributions lie in enabling humanoid robots to seamlessly switch between fixed and sliding unilateral contacts while maintaining active balance—a critical capability for real-world locomotion and manipulation. Samadi developed real-time methods to compute safe center-of-mass positions and wrench distributions, and introduced a geometric approach to define admissible CoM areas that ensure stability even when some contacts are undergoing desired sliding motions. His work on online multicontact receding horizon planning, which uses value function approximation to guide future motions like building momentum to traverse large obstacles, represents a significant step toward more agile and autonomous humanoids. Notably, his 2022 paper on "Touch Semantics" explores intuitive physical human-robot interaction, allowing nonexperts to directly reposition robots without programming. With papers published in top venues like IEEE Robotics and Automation Letters, Samadi’s research—garnering over 55 citations—is shaping the next generation of humanoid robots that can navigate cluttered, unstructured environments with human-like dexterity and balance.
Research Focus
Key Achievements
Top Papers
- 1Touch Semantics for Intuitive Physical Manipulation of Humanoids13 citations · 2022
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- 5Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts5 citations · 2021
- 6Balance of Humanoid robot in Multi-contact and Sliding Scenarios4 citations · 2019