A. Hasanpour

Papers

Total Citations

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About

A. Hasanpour is a researcher in robotics and autonomous systems, with a focus on mobile manipulation and humanoid robot kinematics. Their work addresses critical challenges in robot stability and motion control, particularly for wheeled mobile manipulators and humanoid platforms. In a key contribution, Hasanpour developed a real-time intelligent algorithm to prevent tip-over in redundant wheeled mobile manipulators, using the Moment-Height Stability (MHS) criterion to account for dynamic interactions between the arm and mobile base (6 citations). This work is essential for safe operation in industrial and service robotics. Additionally, Hasanpour conducted a detailed kinematic analysis of Darwin’s humanoid robot, deriving direct and inverse kinematics to support path control, motion planning, and stability (6 citations). These studies provide foundational insights for achieving reliable locomotion and manipulation in humanoid systems. Though early in their career, Hasanpour’s contributions to stability-aware control and kinematic modeling are valuable for researchers advancing mobile and humanoid robotics.