Papers
12
Total Citations
136
H-Index
6
About
Siavash Farzan is a robotics researcher whose work spans underactuated robot locomotion, adaptive control theory, and robotic kinematics. He is perhaps best known for his sustained contributions to the field of brachiating robotics — specifically, robots that traverse elevated wire networks by swinging between cables. His foundational work on the "Tarzan" robot introduced a novel wire-borne brachiating platform capable of navigating two-dimensional wire spaces, while subsequent papers developed increasingly sophisticated control architectures, from energy-based trajectory generation and linear quadratic regulation to adaptive control frameworks employing Control Lyapunov and Barrier Functions for guaranteed safety during dynamic maneuvers. These contributions, accumulating over 90 citations, reflect both theoretical rigor and experimental validation on physical platforms operating under challenging cable-flexibility constraints. Earlier in his career, Farzan also made meaningful contributions to robotic kinematics, proposing fast parallel-processing numerical solutions to the inverse kinematics problem for general serial manipulators. More recently, his research has diversified into learning-based Gaussian predictive control, robotic laser surgery for tissue temperature regulation, and project-based robotics education using ROS. Across these domains, Farzan demonstrates a rare blend of foundational control theory, mechatronic system design, and an emerging commitment to translating advanced robotics research into educational practice.
Research Focus
Key Achievements
Top Papers
- 1
- 2Modeling and Control of Brachiating Robots Traversing Flexible Cables22 citations · 2018
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- 5Tarzan: Design, Prototyping, and Testing of a Wire-Borne Brachiating Robot19 citations · 2018
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