Aghil Yousefi-Korna
Papers
1
Total Citations
12
H-Index
1
About
Aghil Yousefi-Korna is a robotics researcher whose work centers on advancing whole-body motion planning and control for humanoid robots, with a particular emphasis on model predictive control (MPC) and dynamic locomotion. His most cited paper, "A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations" (2018, 12 citations), introduces a novel MPC framework that extends traditional walking controllers by enabling humanoid robots to plan vertical center-of-mass motions and incorporate external contact forces. This contribution is significant because it allows robots to generate more versatile and adaptive whole-body motions—such as stepping over obstacles or maintaining balance on uneven terrain—beyond flat-ground walking. By integrating CoM height variations directly into the optimization, Yousefi-Korna’s work enhances the robustness and flexibility of humanoid locomotion, addressing a key challenge in real-world deployment. While his citation count reflects a focused, early-career impact, his research has practical implications for search-and-rescue, industrial automation, and assistive robotics. His approach stands out for its mathematical rigor and potential to bridge the gap between simulation and physical robot performance, making him a promising voice in the field of legged robotics.
Research Focus
Key Achievements
Top Papers
- 1