Papers
11
Total Citations
238
H-Index
9
About
Ehsan Rezapour is a robotics and control systems researcher whose work centers on the motion control of bio-inspired snake robots, with particular expertise in path following, maneuvering control, and locomotion of planar snake robots. His research has made significant contributions to the field by applying advanced mathematical frameworks — including virtual holonomic constraints, Euler-Lagrange dynamics, differential geometry, and sliding mode techniques — to solve complex control problems for underactuated robotic systems. Rezapour's most influential work, "Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints" (2015), has accumulated over 100 citations and addresses the challenging problem of guiding a snake robot's center of mass along a desired path at a prescribed velocity. His broader body of research systematically develops both theoretical foundations and experimentally validated control strategies for direction following, path following, and formation control of snake robots. Notably, his 2014 studies explored simplified dynamic models that reduce computational complexity while preserving control effectiveness. With nearly 230 total citations across his top works, Rezapour's research has meaningfully advanced the understanding of locomotion control in biologically inspired robotics, providing frameworks that bridge rigorous mathematical modeling with practical, real-world robotic implementation.
Research Focus
Key Achievements
Top Papers
- 1Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints101 citations · 2015
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- 5Maneuvering control of planar snake robots based on a simplified model13 citations · 2014
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- 8Formation control of underactuated bio-inspired snake robots10 citations · 2016
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