Mahdi Khorram
Papers
10
Total Citations
85
H-Index
6
About
Mahdi Khorram is a leading researcher in the field of legged robotics, with a primary focus on the locomotion, stability, and control of quadruped robots. His work addresses the fundamental challenge of enabling these machines to navigate complex, natural terrains while maintaining balance against unexpected disturbances. Khorram’s major contributions include pioneering push recovery frameworks for challenging terrains, developing stable gait planning algorithms using Lagrangian dynamics, and integrating bio-inspired Central Pattern Generators (CPGs) for smooth gait transitions and obstacle crossing. His research has garnered significant attention, with his most cited paper, "Push recovery of a quadruped robot on challenging terrains," accumulating 21 citations. Notably, his work on PD regulated sliding mode control and CPG-based gait planning has laid the groundwork for more agile and resilient robotic systems. By combining rigorous dynamic modeling with biologically inspired control strategies, Khorram has advanced the practical mobility of quadruped robots, making them more capable of operating in unstructured environments—a critical step toward their deployment in search-and-rescue, exploration, and industrial inspection.
Research Focus
Key Achievements
Top Papers
- 1Push recovery of a quadruped robot on challenging terrains21 citations · 2016
- 2Dynamics and stable gait planning of a quadruped robot15 citations · 2011
- 3PD regulated sliding mode control of a quadruped robot12 citations · 2011
- 4CPG-based gait transition of a quadruped robot10 citations · 2015
- 5Balance recovery of a quadruped robot9 citations · 2015
- 6CPG-based gait planning of a quadruped robot for crossing obstacles8 citations · 2015
- 7
- 8A 3D stable trot of a quadruped robot over uneven terrains3 citations · 2015
- 9
- 10Modified Jacobian transpose control of a quadruped robot2 citations · 2015