M. Arasteh
Papers
1
Total Citations
4
H-Index
1
About
M. Arasteh is a robotics researcher whose work centers on humanoid robot kinematics and motion control, with a particular focus on overcoming singularity challenges in inverse kinematics (IK) to enable more natural, human-like movement. Their most notable contribution, presented in the 2020 paper "Analytical Closed-Form Joint Solution of Quaternion-Based Inverse Kinematics for Humanoid Robots," addresses a critical problem: when humanoid robots walk with knees fully extended—a key requirement for mimicking human gait—traditional IK solvers encounter singularities that cause instability. Arasteh proposed a novel analytical closed-form solution using quaternion-based mathematics, offering a robust, singularity-free approach that allows for smoother, more biologically plausible motion. This work has garnered 4 citations, marking it as a specialized contribution within the robotics community. By tackling the intersection of mathematical rigor and practical biomechanics, Arasteh’s research provides a foundational tool for engineers designing more agile and human-like robots, with potential applications in assistive robotics, prosthetics, and human-robot interaction. Their work exemplifies how elegant mathematical solutions can directly advance the physical capabilities of autonomous systems.
Research Focus
Key Achievements
Top Papers
- 1