Abbas Ehsani‐Seresht
Papers
8
Total Citations
103
H-Index
5
About
Dr. Abbas Ehsani‐Seresht is a leading researcher in robotics, specializing in the control and dynamic modeling of legged and continuum robots. His work focuses on developing advanced fault-tolerant and robust control strategies to ensure stable, high-performance motion in the presence of actuator faults, uncertainties, and nonlinearities. A key contribution is the design of fractional-order active fault-tolerant controllers for legged robots, addressing saturated actuators with unknown bias and gain degradation—a critical challenge for real-world deployment. He has also pioneered dynamic models for cable-driven continuum robots in hybrid position-force actuation mode, enabling more precise and adaptable control of these flexible systems. His research on observer-based robust adaptive force-position controllers for quadruped robots, as well as prescribed performance control algorithms, has been widely cited, with his most influential paper garnering 41 citations. Notably, he has introduced a novel ground contact model for simulating bipedal locomotion, and his work on discrete finite-time robust fault-tolerant sliding mode control has been validated experimentally. Dr. Ehsani‐Seresht’s contributions are essential for advancing the reliability and autonomy of next-generation robotic systems.
Research Focus
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Top Papers
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- 8Prescribed performance control of quadruped robot4 citations · 2016