Mohammad Dehghani

About

Mohammad Dehghani is a robotics researcher whose work spans continuum robotics, snake locomotion, and aerial robotic systems. He is perhaps best known for his foundational contributions to the modeling and control of continuum robots — flexible, joint-less manipulators capable of bending, twisting, and stretching — a field where he has produced some of the most rigorous and practically applicable frameworks to date. His 2011 paper on planar continuum robot modeling and control, which introduced an exact Jacobian-based approach surpassing conventional constant-curvature approximations, has garnered 43 citations and remains a key reference in the field. Subsequent work extended these methods to spatial configurations, tendon-actuated systems, grasp dynamics, and real-time compact modeling using simplified Cosserat rod theory, collectively accumulating over 90 citations. Dehghani has also contributed to bio-inspired locomotion, proposing a modified serpenoid equation for more energy-efficient snake robot gaits. More recently, he has turned his attention to aerial robotics, designing coaxial quadrotors and pioneering robotic pollination systems for agricultural applications — work that reflects a growing concern for practical, real-world impact. His research consistently bridges theoretical rigor with engineering implementation.

Research Focus

Key Achievements

Top Papers

1. 1
   Modeling and control of a planar continuum robot

   43 citations · 2011
2. 2
   Design and analysis of an aerial pollination system for walnut trees

   28 citations · 2022
3. 3
   A coaxial quadrotor flying robot: Design, analysis and control implementation

   26 citations · 2021
4. 4
   Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp

   24 citations · 2014
5. 5
   Compact modeling of spatial continuum robotic arms towards real-time control

   21 citations · 2013
6. 6
   Modeling of continuum robots with twisted tendon actuation systems

   21 citations · 2013
7. 7
   Static modeling of continuum robots by circular elements

   13 citations · 2013
8. 8
   A modified serpenoid equation for snake robots

   13 citations · 2009
9. 9
   Characteristics identification of continuum robots for exact modeling

   11 citations · 2013
10. 10
    Modeling and Control of a Pollinator Flying Robot

    11 citations · 2021

Key Collaborators

Contact & Links