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About

Mansour Nikkhah Bahrami is a researcher specializing in robotics, with a primary focus on bipedal locomotion and cable-driven parallel manipulators. His most significant contributions lie in the stable control of biped robots, where he pioneered the use of Poincaré map control to achieve active, stable running gaits for planar bipeds with compliant legs. His 2013 paper on this topic, which has garnered 13 citations, introduces discrete linear state feedback controllers that stabilize the system around active fixed points, marking a key advancement in dynamic legged robotics. Bahrami also made notable strides in the design optimization of cable-driven manipulators, developing genetic algorithm-based methods to maximize stiffness and minimize cable tension for spatial and planar configurations. His work on a spatial four-cable robot (5 citations) and a three-cable manipulator (3 citations) demonstrates his systematic approach to optimizing workspace and structural integrity. Additionally, his 2013 study on compliant leg architectures for biped running (4 citations) explores both telescopic springs and knee-based compliance, offering foundational insights for energy-efficient locomotion. Through these contributions, Bahrami has advanced the theoretical and practical understanding of both bipedal stability and cable robot design, influencing subsequent research in these niche but critical areas of robotics.