Ahmad Bagheri
Papers
15
Total Citations
209
H-Index
7
About
Ahmad Bagheri is a robotics and control systems researcher whose work has made significant contributions to the field of biped robot locomotion and intelligent control optimization. His research centers on the mathematical modeling, trajectory planning, and advanced control of biped robots, with a particular focus on developing robust and optimal control strategies for complex dynamic systems. Bagheri's most influential contribution — "Optimal Robust Sliding Mode Tracking Control of a Biped Robot Based on Ingenious Multi-objective PSO" (2013, 68 citations) — exemplifies his pioneering integration of sliding mode control with evolutionary optimization techniques, specifically Particle Swarm Optimization (PSO). His foundational mathematical simulations of seven-link biped robots across various surfaces and trajectory configurations (2006–2007, 46 and 23 citations respectively) established important groundwork for subsequent biped locomotion research. He has consistently advanced controller parameter tuning by replacing tedious trial-and-error processes with sophisticated multi-objective optimization frameworks, including comparisons with genetic algorithms and NSGA-II methodologies. Beyond bipedal robotics, Bagheri has extended his expertise to vibration suppression in structural systems, neural network-based inverse kinematics identification, and model predictive control for disturbance-resilient walking robots. His body of work demonstrates a sustained commitment to bridging theoretical modeling with practical, computationally intelligent control solutions.
Research Focus
Key Achievements
Top Papers
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- 9Optimal tracking control of a biped robot walking in the lateral plane6 citations · 2011
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