P. Aghabalaie

Papers

Total Citations

H-Index

About

P. Aghabalaie is a robotics researcher whose work focuses on the control of complex robotic systems, particularly in the areas of impedance control and bipedal locomotion. His most cited paper, "Adaptive Hybrid Impedance Control of robotic manipulators" (2010, 17 citations), addresses the critical challenge of simultaneously controlling both the position and the force of a robotic manipulator when it interacts with its environment. By employing a Hybrid Impedance Control (HIC) methodology, this work enables robots to exhibit a desired dynamic behavior during contact tasks, a fundamental contribution to the field of physical human-robot interaction and automated assembly. In a second significant study, "Nonlinear robust control of a biped robot" (2010, 9 citations), Aghabalaie tackled the demanding problem of dynamic walking. He developed a nonlinear robust controller for a 5-link biped model, formulating the control of the robot during its double support phase as a tracking problem. This work provides a rigorous framework for achieving stable and robust locomotion, demonstrating a deep understanding of both nonlinear dynamics and control theory.