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About

Pouya Asgari is a robotics and control systems researcher whose work spans two compelling frontiers: haptic rendering and dynamically stable mobile robotics. His most influential contribution, garnering 16 citations, introduced an improved passivity criterion for haptic devices, establishing a precise mathematical relationship between Coulomb friction, viscous friction, sampling rate, and maximum simulated stiffness — a finding with meaningful implications for the safety and realism of human-machine haptic interfaces. Asgari has also made notable strides in the challenging domain of Ballbot robotics — inherently unstable, single-ball mobile platforms designed to operate alongside humans in confined spaces. His 2013 work on dynamics modelling and stable motion control of a Ballbot equipped with a manipulator (10 citations) addressed the complex nonholonomic constraints of these underactuated systems, while subsequent papers on armed Ballbot stabilization further refined control strategies for mobile manipulators capable of serving in human environments. Collectively, Asgari's research addresses some of robotics' most technically demanding problems: keeping unstable platforms balanced while performing useful tasks, and ensuring that human-robot physical interactions remain safe and responsive. His work is particularly relevant to researchers developing next-generation assistive and service robots.