Amir Hossein Nakhaei
Papers
1
Total Citations
2
H-Index
1
About
Amir Hossein Nakhaei is a robotics researcher whose work focuses on the locomotion and control of snake-like robots, with a particular emphasis on modeling complex friction dynamics. His most cited paper, "Controlling wheel less snake-like robot by considering the Coulomb elliptical friction model and utilizing the path of Serpenoid curve" (2009, 2 citations), introduces a rigorous analytical approach to a challenging problem in bio-inspired robotics. In this work, Nakhaei applies the Lagrange method to derive the equations of motion for a snake robot, using the absolute angles of each body segment and the robot’s center of mass as generalized coordinates. A key contribution is his incorporation of the Coulomb elliptical friction model, which more accurately captures the anisotropic ground contact forces that are critical for serpentine locomotion. By combining this friction model with the Serpenoid curve—a mathematical representation of a snake’s natural undulating gait—Nakhaei provides a framework for more realistic and efficient control of wheel-less snake robots. Though his citation count is modest, his work represents a thoughtful integration of analytical mechanics and biological principles, offering foundational insights for researchers exploring non-wheeled, friction-dependent robotic locomotion.
Research Focus
Key Achievements
Top Papers
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