Vahid Fakhari

About

Vahid Fakhari is a robotics researcher whose work centers on the design, modeling, and control of novel locomotion systems, with a particular emphasis on vibration-driven robots and mobile platforms. His major contributions lie in developing innovative control strategies—including PID, feedback linearization, and sliding mode controllers—to achieve precise trajectory tracking and robust motion in challenging environments. Fakhari’s research on energy-efficient vibration-driven robots, which use periodic internal mass vibrations for propulsion, has opened new possibilities for applications in debris clearance, pipeline inspection, and medical devices. His most cited paper, “Optimization and control of an energy-efficient vibration-driven robot” (2023, 9 citations), exemplifies this focus. He has also advanced the tracking control of omni-directional mobile robots using PI controllers and velocity/acceleration cone concepts (2020, 7 citations), and experimentally validated PID controllers for Cartesian robots (2019, 3 citations). With a growing citation record and a clear trajectory toward practical, resilient robotic systems, Fakhari’s work is shaping the future of autonomous locomotion in constrained and variable terrains.

Research Focus

Key Achievements

Top Papers

1. 1
   Optimization and control of an energy-efficient vibration-driven robot

   9 citations · 2023
2. 2
   Tracking Control of an Omni-Directional Mobile Robot

   7 citations · 2020
3. 3
   Design and development of closed-loop controllers for trajectory tracking of a planar vibration-driven robot

   3 citations · 2024
4. 4
   Experiental Robustness Evaluation of PID Controller for Position Control of a Cartesian Robot

   3 citations · 2019
5. 5
   Motion control of a caterpillar robot using optimized feedback linearization and sliding mode controllers

   3 citations · 2021

Key Collaborators

Contact & Links