simple website creator

Robotics, Locomotion, and Control Lab

Publications

2021

  1. Bolivar, E., Summers, T., Gregg, R., and Rezazadeh, S., "Series Spring Design for Robust-Feasible Quasi-Direct Drives", Mechatronics (under review).
  2. Semasinghe, C., Taylor, D., and Rezazadeh, S., "A Unified Optimization Framework and New Set of Performance Metrics for Robot Leg Design", IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, 2021. (Preprint)

2020


  1. Elery, T., Rezazadeh, S., Reznick, E., Gray, L., and Gregg, R., "Effects of a Powered Knee-Ankle Prosthesis on Amputee Hip Compensations: A Case Series", IEEE Transactions on Neural Systems and Rehabilitation Engineering, 28(12), pp. 2944 - 2954, 2020. (Preprint, Video) 
  2. Elery, T.*, Rezazadeh, S.*, Nesler, C., and Gregg, R., “Design and Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators”, IEEE Transactions on Robotics, 36(6), pp. 1649 - 1668, 2020. (Preprint, Video)
  3. Rezazadeh, S. and Hurst, J.W., “Control of ATRIAS in Three Dimensions: Walking as a Forced-Oscillation Problem”, the International Journal of Robotics Research (IJRR), 39(7), pp. 774-796, 2020. (Preprint) 

2019

  1. Bolivar, E., Rezazadeh, S., Summers, T., and Gregg, R., "Robust Optimal Design of Series Elastic Actuators: Application to a Powered Prosthetic Ankle", IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, Canada, 2019. (Preprint)
  2. Kumar, S., Mohammadi, A., Quintero, D., Rezazadeh, S., Gans, N., and Gregg, R., “Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs”, IEEE Transactions on Control Systems Technology, 28(6), pp. 2120 - 2135, 2019. (Preprint)
  3. Rezazadeh, S., Quintero, D., Divekar, N., Reznick, E., Gray, L., and Gregg, R., “A Phase Variable Approach for Improved Rhythmic and Non-Rhythmic Control of a Powered Knee-Ankle Prosthesis", IEEE Access, 7(1), pp. 109840-109855, 2019. (PDF, Video)
  4. Bolivar, E., Rezazadeh, S., and Gregg, R., “Minimizing Energy Consumption and Peak Power of Series Elastic Actuators: a Convex Optimization Framework for Elastic Element Design”, IEEE/ASME Transactions on Mechatronics, 24(3), pp. 1334-1345, 2019. (Preprint)

2018

  1. Quintero, D., Reznick, E., Lambert, D.J., Rezazadeh, S., Gray, L., and Gregg, R., “Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study”, IEEE Journal of Translational Engineering in Health and Medicine, 6(1), pp. 1-9, 2018. (PDF)
  2. Rezazadeh, S., Abate, A., Hatton, R.L., and Hurst, J.W., “Robot Leg Design: A Constructive Framework”, IEEE Access, 6(1), pp. 54369-54387, 2018. (PDF)
  3. Hubicki, C.M., Abate, A., Clary, P., Rezazadeh, S., Jones, M., Peekema, A., Van Why, J., Domres, R., Wu, A., Martin, W., Geyer, H., and Hurst, J.W., “Walking and Running with Passive Compliance: Lessons from Engineering a Live Demonstration of the ATRIAS Biped”, IEEE Robotics and Automation Magazine, 25(3), pp. 23-39, 2018. (Preprint)
  4. Rezazadeh, S., Quintero, D., Divekar, N., and Gregg, R., “A Phase Variable Approach to Volitional Control of Powered Knee-Ankle Prostheses”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. (Preprint, Video)
  5. Elery, T., Rezazadeh, S., Nesler, C., Doan, J., Zhu, H., and Gregg. R., “Design and Benchtop Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators”, IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018. (Preprint, Video)

Older

  1. Bolivar, E., Rezazadeh, S., and Gregg, R., “A General Framework for Minimizing Energy Consumption of Series Elastic Actuators with Regeneration”, ASME Dynamic Systems and Control Conference (DSCC), Tysons, VA, USA, 2017 (Won best robotics paper award – Finalist for best student paper award). (Preprint)
  2. Rezazadeh, S. and Gregg, R., “A Control Framework for Anthropomorphic Biped Walking Based on Stabilizing Feedforward Trajectories”, ASME Dynamic Systems and Control Conference (DSCC), Minneapolis, MN, USA, 2016. (Preprint)
  3. Rezazadeh, S., Hubicki, C., Jones, M., Peekema, A., Van Why, J., Abate, A., and Hurst J.W., “Spring-mass Walking with ATRIAS in 3D: Robust Gait Control Spanning Zero to 4.3 KPH on a Heavily Underactuated Bipedal Robot”, ASME Dynamic Systems and Control Conference (DSCC), Columbus, OH, USA, 2015. (Preprint)
  4. Rezazadeh, S. and Hurst, J.W., “Toward Step-by-Step Synthesis of Stable Gaits for Underactuated Compliant Legged Robots”, IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015. (Preprint)
  5. Rezazadeh, S. and Hurst, J.W., “On the Optimal Selection of Motors and Transmissions for Electromechanical and Robotic Systems”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, 2014. (Preprint)

Copyright© Siavash Rezazadeh, 2019-2020

All rights reserved.