Mir Saman Rahimi Mousavi
Papers
2
Total Citations
35
H-Index
2
About
Mir Saman Rahimi Mousavi is a robotics researcher whose work centers on the control and trajectory optimization of bio-inspired locomotion systems, with a particular focus on brachiation robots—machines that mimic the swinging motion of long-armed apes moving from branch to branch. His major contributions lie in applying Pontryagin’s minimum principle to minimize actuator effort during complex maneuvers, a novel approach that reduces energy consumption while maintaining precise motion control. His most-cited paper, "Minimum control effort trajectory planning and tracking of the CEDRA brachiation robot" (2013, 23 citations), demonstrates how optimal control theory can be used to plan efficient, low-energy trajectories for these dynamic systems. In earlier work, "Optimal Trajectory Planning for Brachiation Robot on Ladder With Irregular Branches" (2011, 12 citations), he extended this methodology to handle non-uniform environments, solving two distinct trajectory problems that showcase the versatility of his approach. Through these studies, Mousavi has advanced the practical application of optimal control in robotics, offering a foundation for more agile and energy-efficient mobile robots. His research continues to inspire innovations in autonomous locomotion and robotic manipulation.
Research Focus
Key Achievements
Top Papers
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