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Navvab Kashiri

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Research Line

Humanoids & Human Centered Mechatronics

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IIT Central Research Lab Genova

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+39 010 71781 582
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About

Navvab completed his undergraduate studies in Mechanical Engineering, and earned a first class honors masters degree in Mechanical Engineering from Babol University of Technology in 2011 with the thesis titled “Time-Optimal Control of Redundant Manipulators and Mobile Robots”. He joined the Advanced Robotics Department at the Italian Institute of Technology (IIT) to pursue his postgraduate studies, and received his Ph.D. degree in Robotics from University of Genoa in April 2015 with the dissertation entitled “Control and Modeling of Compliant Joint Robots equipped with Variable Impedance Mechanisms”.

He is currently a senior postdoctoral researcher at the Humanoid & Human Centred Mechatronics (HHCM) group, focusing on the development and control of torque-controlled robotic systems. His research interests include modeling, simulation and control of variable impedance joint robots with the focus on friendly physical human-robot interaction, as well as design and development of compliant modules and sensors. He has been serving as a reviewer for high ranked international journals such as T-MECH, T-ASE, T-RO and RAS and international conferences such as ICRA, IROS and RSS. He also serves as a guest editor in the Frontiers Journals for the topic on

"Advances in Mechatronics and Biomechanics towards Efficient Robot Actuation".

 Workshop Organizations:

  • Navvab Kashiri, Jörn Malzahn, and Nikos G. Tsagarakis, "Development of Agile Robots", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.

Projects

Present:

  • Wearable Robots (2017 - 2021) for Augmentation, Assistance or Substitution of Human Motor Functions (CA16116)
  • CENTAURO (2015 - 2019): Robust Mobility and Dexterous Manipulation in Disaster Response by Full-body Tele-presence in a Centaur-like Robot (H2020-ICT-23-2014)
  • CogIMon (2015 - 2019): Cognitive Interaction in Motion (H2020-ICT-23-2014)

Past:

  • WALK-MAN (2013 - 2017): Whole-body Adaptive Locomotion and Manipulation (FP7-ICT-2013-10)
  • SAPHARI (2011 - 2015): Safe and Autonomous Physical Human-Aware Robot Interaction (FP7-ICT-2011-7)

Selected Publications

Journal Papers:

  • Emmanouil Spyrakos, Navvab Kashiri, Peter R. N. Childs, Nikos G. Tsagarakis, Online Impedance Regulation Techniques for Compliant Humanoid Balancing, Robotics and Autonomous Systems (RAS ); 2018. 
  • Navvab Kashiri, Jorn Malzahn, Nikos G. Tsagarakis, On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder Based Principles, IEEE Robotics and Automation Letters (RAL), 2017.
  • Wesley Roozing, Jörn Malzahn, Navvab Kashiri, Darwin G. Caldwell, Nikos Tsagarakis, On the Stiffness Selection for Torque Controlled Series-Elastic Actuators, IEEE Robotics and Automation Letters (RAL), 2017.
  • N. Tsagarakis, D. Caldwell, F Negrello, W. Choi, L. Baccelliere, V.G. Loc, J. Noorden, L. Muratore, A. Margan, A. Cardellino, L. Natale, E. Mingo Hoffman, H. Dallali, N. Kashiri, J. Malzahn, J. Lee, P. Kryczka, D. Kanoulas, M. Garabini, M. Catalano, M. Ferrati, V. Varricchio, L. Pallottino, C. Pavan, A. Bicchi, A. Settimi, A. Rocchi, A. Ajoudani, WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments, Journal of Field Robotics ( JFR), 2017.
  • Navvab Kashiri, Matteo Laffranchi, Darwin G. Caldwell, Nikos G. Tsagarakis, Dynamics and Control of an Anthropomorphic Compliant Arm equipped with Friction Clutches, IEEE/ASME Transactions on Mechatronics (TMECH), 2015.
  • Navvab Kashiri, Jinoh Lee, Nikos G. Tsagarakis, Michael Van Damme , Bram Vanderborght, Darwin G. Caldwell, Proxy-based Position Control of Manipulators with Passive Compliant Actuators: Stability Analysis and Experiments, Robotics and Autonomous Systems (RAS), 2015.
  • Matteo Laffranchi, Lisha Chen, Navvab Kashiri, Jinoh Lee, Nikos Tsagarakis, Darwin Caldwell, Development and control of a series elastic actuator equipped with a semi active friction damper for human friendly robots, Robotics and Autonomous Systems (RAS); Vol. 62, 1827-1836, 2014.
  • Mohamad H.Ghasemi, Navvab Kashiri*, Morteza Dardel, Time-optimal trajectory planning of robot manipulators in point-to-point motion using an indirect method, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science (IMechE - C), 226(2), 2012. (*corresponding Author)
  • Mohamad H.Ghasemi, Navvab Kashiri*, Morteza Dardel, Near Time-Optimal Control of Redundant Manipulators along a Specified Path with Jerks Constraint, Advanced Robotics, 25(18), 2011. (*corresponding Author)
  • Navvab Kashiri, Mohamad H.Ghasemi, Morteza Dardel, An iterative method for time optimal control of dynamic systems, Archives of Control Sciences, 21(1), 2011.
  • Reza A.Alashti and Navvab Kashiri, The effect of temperature variation on the free vibration of a simply supported curved sandwich beam with a flexible core, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science (IMechE - C), 225(3), 2011.

 

Book Chapters:

  • N. Tsagarakis, F. Negrello, M. Garabini, W. Choi, L. Baccelliere, V. Loc, J. Noorden, M. Catalano, M. Ferrati, L. Muratore, P. Kryczka, E. Mingo, A. Settimi, A. Rocchi, A. Margan, S. Cordasco, D. Kanoulas, A. Cardellino, L. Natale, H. Dallali, J. Malzahn, N. Kashiri, V. Varricchio, L. Pallottino, C. Pavan, J. Lee, A. Ajoudani, D. Caldwell, A. Bicchi, WALK-MAN Humanoid Platform, The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue, 2018.
  • Navvab Kashiri, Nikos Tsagarakis, Michael Van Damme , Bram Vanderborght, and Darwin Caldwell, Proxy-based Sliding Mode Control of Compliant Joint Manipulators, Lecture Notes in Electrical Engineering (LNEE), 2016.

 

Conference Papers:

  • Zeyu Ren, Navvab Kashiri, Chengxu Zhou, Nikos G. Tsagarakis, HERI II: A Robust and Flexible Robotic Hand Based on Modular Finger Design and Under Actuation Principles, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. 
  • Wesley Roozing, Navvab Kashiri, Nikos G. Tsagarakis, Enhanced Explosive Motion for Torque Controlled Actuators through Field Weakening Control, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. 
  • Mohammad Shahbazi, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis, On the Orientation Planning with Constrained Angular Velocity and Acceleration at Endpoints, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. 
  • Malgorzata Kamedula, Navvab Kashiri, Nikos G. Tsagarakis, On the Kinematics of Wheeled Motion Control of a Hybrid Wheeled-Legged CENTAURO Robot, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. 
  • Cheng Fang, Giuseppe F. Rigano, Navvab Kashiri, Arash Ajoudani, Jinoh Lee, Nikos G. Tsagarakis, Online Joint Stiffness Transfer from Human Arm to Anthropomorphic Arm, IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2018. 
  • Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Lorenzo Baccelliere, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis, Enhanced Tele-Interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles, IEEE International Conference on Robotics and Automation (ICRA ), 2018.
  • Mohammad Shahbazi, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis, Orientation Planning in Task Space Using Quaternion Polynomials, IEEE International Conference on Robotics and Biomimetics (ROBIO ) , 2017. 
  • Lorenzo Baccelliere, Navvab Kashiri*, Luca Muratore, Arturo Laurenzi, Malgorzata Kamedula, Alessio Margan, Stefano Cordasco, Jörn Malzahn, Nikos Tsagarakis, Development of a Human Size and Strength Compliant Bi-Manual Platform for Realistic Heavy Manipulation Tasks, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. (*corresponding Author)
  • Jörn Malzahn, Navvab Kashiri, Wesley Roozing, Nikos Tsagarakis, Darwin G. Caldwell, What is the Torque Bandwidth of this Actuator?, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
  • Wesley Roozing, Jörn Malzahn, Navvab Kashiri, Darwin G. Caldwell, Nikos Tsagarakis, On the Stiffness Selection for Torque Controlled Series-Elastic Actuators, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
  • Navvab Kashiri, Emmanouil Spyrakos, Darwin G. Caldwell, Nikos G. Tsagarakis, Exploiting the Natural Dynamics of Compliant Joint Robots for Cyclic Motions, International Conference on Methods and Models in Automation and Robotics (MMAR), Miedzyzdroje, 2017.
  • Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis, A Self-Adaptive Variable Impedance Actuator Based on Intrinsic Non-linear Compliance and Damping Principles, IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017.
  • Navvab Kashiri, Jorn Malzahn, Nikos G. Tsagarakis, On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder Based Principles, IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017.
  • Malgorzata Kamedula, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis, A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effective Simulation of Soft Robotics Systems: Application to CENTAURO Robot, International Conference on Informatics in Control, Automation and Robotics (ICINCO), Lisbon, 2016.
  • Navvab Kashiri, Arash Ajoudani, Darwin G. Caldwell, Nikos G. Tsagarakis, Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg, International Conference on Informatics in Control, Automation and Robotics (ICINCO), Lisbon, 2016.
  • Emmanouil Spyrakos, Navvab Kashiri, Jinoh Lee, Nikos G. Tsagarakis, Darwin G. Caldwell, Online Impedance Parameter Tuning for Compliant Biped Balancing, IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), Seoul, 2015.
  • Navvab Kashiri, Gustavo Medrano-Cerda, Nikos G. Tsagarakis, Matteo Laffranchi, Darwin G. Caldwell, Feedback Damping Control of an Intrinsic Variable Damping Compliant Actuator, IEEE International Conference on Robotics and Automation (ICRA), Seattle, 2015.
  • Loc Vo-Gia, Navvab Kashiri, Francesca Negrello, Nikos Tsagarakis, Darwin Caldwell, Development of a 7-DOF Soft Manipulator Arm for the Compliant Humanoid Robot COMAN, IEEE International Conference on Robotics and Biomimetics (ROBIO), Bali, 2014.
  • Navvab Kashiri, Nikos G. Tsagarakis, Michael Van Damme , Bram Vanderborght, Darwin G. Caldwell, Enhanced Physical Interaction Performance for Compliant Joint Manipulators using Proxy-based Sliding Mode Control, International Conference on Informatics in Control, Automation and Robotics (ICINCO), Vienna, 2014.
  • Houman Dallali, Gustavo Medrano-Cerda, Navvab Kashiri, Nikos Tsagarakis, Darwin Caldwell, Decentralized Feedback Design for a Compliant Robot Arm, European Modelling Symposium (EMS), Pisa, 2014.
  • Navvab Kashiri, Matteo Laffranchi, Nikos G. Tsagarakis, Alessio Margan, Darwin G. Caldwell, Physical Interaction detection and Control of Compliant Manipulators Equipped with Friction Clutches, IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.
  • Jinoh Lee, Matteo Laffranchi, Navvab Kashiri, Nikolaos G. Tsagarakis, Darwin G. Caldwell, Model-Free Force Tracking Control of Piezoelectric Actuators: Application to Variable Damping Actuator, IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.
  • Navvab Kashiri, Matteo Laffranchi, Jinoh Lee, Nikos G. Tsagarakis, Lisha Chen, Darwin Caldwell, Real-Time Damping Estimation for Variable Impedance Actuators, IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.
  • Lisha Chen, Matteo Laffranchi, Jinoh Lee, Navvab Kashiri, Nikos G. Tsagarakis, Darwin G. Caldwell, Link position control of a compliant actuator with unknown transmission friction torque, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, 2013.
  • Navvab Kashiri, Nikos G. Tsagarakis, Matteo Laffranchi, Darwin G. Caldwell, On the stiffness design of intrinsic compliant manipulators, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Wollongong, 2013.
  • Lisha Chen, Manolo Garabini, Matteo Laffranchi, Navvab Kashiri, Nikos G. Tsagarakis, Antonio Bicchi, Darwin G. Caldwell, Optimal control for maximizing velocity of the CompAct™ compliant actuator, IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, 2013.
  • Navvab Kashiri, Matteo Laffranchi, Nikos G. Tsagarakis, Irene Sardellitti, Darwin G. Caldwell, Dynamic modeling and adaptable control of the CompAct™ arm, IEEE International Conference on Mechatronics (ICM), Vicenza, 2013.

Videos:

  • Half-Man Upper-Body:

https://www.youtube.com/watch?v=MueQZoAW9WQ

  • Variable Damping/Clutch Upper-body:

https://www.youtube.com/watch?v=_U7Lo0Z_Zyo

https://www.youtube.com/watch?v=KFW0SQhc5vU

https://www.youtube.com/watch?v=bjx6omUqKdw

 

Awards

  • Best Student Paper Award & Best Paper Award Finalist - ICINCO 2014

Navvab Kashiri, Nikos G. Tsagarakis, Michael Van Damme , Bram Vanderborght, Darwin G. Caldwell, Enhanced Physical Interaction Performance for Compliant Joint Manipulators using Proxy-based Sliding Mode Control, International Conference on Informatics in Control, Automation and Robotics.

  • Best Interactive Paper Award Finalist - Humanoids 2015

Emmanouil Spyrakos, Navvab Kashiri, Jinoh Lee, Nikos G. Tsagarakis, Darwin G. Caldwell, Online Impedance Parameter Tuning for Compliant Biped Balancing, International Conference on Humanoid Robots.

 

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I numeri di IIT

L’Istituto Italiano di Tecnologia (IIT) è una fondazione di diritto privato - cfr. determinazione Corte dei Conti 23/2015 “IIT è una fondazione da inquadrare fra gli organismi di diritto pubblico con la scelta di un modello di organizzazione di diritto privato per rispondere all’esigenza di assicurare procedure più snelle nella selezione non solo nell’ambito nazionale dei collaboratori, scienziati e ricercatori ”.

IIT è sotto la vigilanza del Ministero dell'Istruzione, dell'Università e della Ricerca e del Ministero dell'Economia e delle Finanze ed è stato istituito con la Legge 326/2003. La Fondazione ha l'obiettivo di promuovere l'eccellenza nella ricerca di base e in quella applicata e di favorire lo sviluppo del sistema economico nazionale. La costruzione dei laboratori iniziata nel 2006 si è conclusa nel 2009.

Lo staff complessivo di IIT conta circa 1440 persone. L’area scientifica è rappresentata da circa l’85% del personale. Il 45% dei ricercatori proviene dall’estero: di questi, il 29% è costituito da stranieri provenienti da oltre 50 Paesi e il 16% da italiani rientrati. Oggi il personale scientifico è composto da circa 60 principal investigators, circa 110 ricercatori e tecnologi di staff, circa 350 post doc, circa 500 studenti di dottorato e borsisti, circa 130 tecnici. Oltre 330 posti su 1400 creati su fondi esterni. Età media 34 anni. 41% donne / 59 % uomini.

Nel 2015 IIT ha ricevuto finanziamenti pubblici per circa 96 milioni di euro (80% del budget), conseguendo fondi esterni per 22 milioni di euro (20% budget) provenienti da 18 progetti europei17 finanziamenti da istituzioni nazionali e internazionali, circa 60 progetti industriali

La produzione di IIT ad oggi vanta circa 6990 pubblicazioni, oltre 130 finanziamenti Europei e 11 ERC, più di 350 domande di brevetto attive, oltre 12 start up costituite e altrettante in fase di lancio. Dal 2009 l’attività scientifica è stata ulteriormente rafforzata con la creazione di dieci centri di ricerca nel territorio nazionale (a Torino, Milano, Trento, Parma, Roma, Pisa, Napoli, Lecce, Ferrara) e internazionale (MIT ed Harvard negli USA) che, unitamente al Laboratorio Centrale di Genova, sviluppano i programmi di ricerca del piano scientifico 2015-2017.

IIT: the numbers

Istituto Italiano di Tecnologia (IIT) is a public research institute that adopts the organizational model of a private law foundation. IIT is overseen by Ministero dell'Istruzione, dell'Università e della Ricerca and Ministero dell'Economia e delle Finanze (the Italian Ministries of Education, Economy and Finance).  The Institute was set up according to Italian law 326/2003 with the objective of promoting excellence in basic and applied research andfostering Italy’s economic development. Construction of the Laboratories started in 2006 and finished in 2009.

IIT has an overall staff of about 1,440 people. The scientific staff covers about 85% of the total. Out of 45% of researchers coming from abroad 29% are foreigners coming from more than 50 countries and 16% are returned Italians. The scientific staff currently consists of approximately 60 Principal Investigators110 researchers and technologists350 post-docs and 500 PhD students and grant holders and 130 technicians. External funding has allowed the creation of more than 330 positions . The average age is 34 and the gender balance proportion  is 41% female against 59% male.

In 2015 IIT received 96 million euros in public funding (accounting for 80% of its budget) and obtained 22 million euros in external funding (accounting for 20% of its budget). External funding comes from 18 European Projects, other 17 national and international competitive projects and approximately 60 industrial projects.

So far IIT accounts for: about 6990 publications, more than 130 European grants and 11 ERC grants, more than 350 patents or patent applications12 up start-ups and as many  which are about to be launched. The Institute’s scientific activity has been further strengthened since 2009 with the establishment of 11 research nodes throughout Italy (Torino, Milano, Trento, Parma, Roma, Pisa, Napoli, Lecce, Ferrara) and abroad (MIT and Harvard University, USA), which, along with the Genoa-based Central Lab, implement the research programs included in the 2015-2017 Strategic Plan.