Sara Kalantari

Papers

Total Citations

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About

Sara Kalantari is a researcher whose work lies at the intersection of robotics, control systems, and mechatronics, with a particular focus on the modeling and control of novel locomotion systems. Her key research areas include hybrid systems, model predictive control, and the dynamics of capsule robots—a class of untethered, legless robots designed for internal locomotion. In her most-cited work, "Hybrid model predictive control of legless piezo capsubot," Kalantari addresses the complex challenge of controlling a capsubot, a miniature robot that moves without external legs. She develops a hybrid modeling approach by converting the robot’s nonlinear dynamics into a Piece-Wise Affine (PWA) system, enabling the application of model predictive control for precise, stable motion. This contribution is significant for advancing the control of small-scale robots in constrained environments, such as medical or inspection applications. While her citation count is modest, her work represents a foundational step in the integration of hybrid control theory with practical robotic systems. Kalantari’s research demonstrates a rigorous engineering approach to solving real-world locomotion problems, making her a notable contributor to the field of robotic control.