Hosein Zabihi Kheibari

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About

Hosein Zabihi Kheibari is a robotics researcher specializing in dynamically stable systems, with a particular focus on the Ballbot—a robot that maintains balance on a single spherical wheel. His work addresses the fundamental challenges of controlling inherently unstable platforms, where precision and smooth motion are critical. In his 2013 paper “Timing belt gearbox in Ballbot robot” (9 citations), Kheibari introduced a novel gearbox design that eliminates motor backlash, enabling the precise actuation required for stable ball-based locomotion. This contribution directly tackles one of the core mechanical hurdles in Ballbot development. His related work, “Constructing IMU based on ADC and sensors calibration for Ballbot” (3 citations), demonstrates his hands-on approach to sensor integration, developing a custom inertial measurement unit (IMU) with calibrated ADC and sensors to provide accurate angle and position feedback—essential for real-time stabilization. Rather than relying on commercial IMUs, Kheibari’s method emphasizes low-cost, customizable solutions, making advanced robotics more accessible. Together, these papers highlight his expertise in mechatronic design and sensor fusion for dynamic balance, offering valuable insights for students and researchers exploring non-holonomic mobile robots and control systems.