Amirhossein

Karimi

Amirhossein Karimi


Amirhossein KarimiAmirhossein Karimi
Graduate student
Human & Robot Interaction Laboratory

My Resume pdf

Tel:+98-913-2008492

ah.karimi@ut.ac.ir

Homepage_house_home_page_webpage_main http://taarlab.com/blog/ahkarimi/

 

 

 

Biography

Outstanding Student Award

Outstanding Student Award

Amirhossein Karimi received the BSc in Mechanical engineering from Isfahan University of Technology (IUT) in 2011. He has already graduated with masters degree in Mechatronics Engineering from University of Tehran. His BSc thesis concentrated on dynamic analysis, stability, and optimal path planning of biped robots. In this regard, he developed a teen-size humanoid robot together with the robotic research core at department of mechanical engineering of IUT. His current research interests include convex optimization with applications to parallel robots and model predictive control (MPC), in order to find systematic and propitious approaches in the singularity-free workspace and dimensional synthesis of planar and spatial parallel mechanisms. Additionally, the obstacle-avoidance and on-line trajectory planning of redundant serial manipulators and parallel mechanisms is of his fields of interest. He is a member of Human & Robot Interaction Laboratory (TaarLab) at faculty of new sciences and technologies. He has received the outstanding student trophy award (shown on the righthand side) from University of Tehran in April 2015. Also, He was awarded by the Faculty President for academic achievements at University of Tehran in 2012. He has two registered patents, issued by Iranian Organization of Patents Registration.

 

Research Interests

  • Convex optimization
  • Biped robots
  • Synthesis of parallel mechanisms
  • Multi-agent and hybrid Control
  • Kinematics & dynamics of robotic systems
  • Model predictive control
  • Embedded systems
  • Motion planning
  • Self-reconfigurable mechanisms
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    Education

    • Masters degree2011 - 2014

      Mechatronic Engineering
      University of Tehran (UT)
      Thesis Title: Kinematic Optimization and Dimensional Synthesis of Parallel Robots
      Master’s Thesis Mark: 20/20
      GPA: 19.46/20 (Highest GPA among all ME students)
    • Bachelors degree2007 - 2011
      Mechanical Engineering
      Isfahan University of Technology (IUT)
      B.Sc. Project Title: Dynamic Analysis and Optimal Path Planning for a Biped Robot Using Zero Moment Point
      B.Sc. Project Mark: 20/20
      GPA: 17.1/20

    Honors & Awards

  • Outstanding student trophy award from university of Tehran, April 2015
  • Ranked 1st place among Mechatronic Engineering students throughout MSc., University of Tehran, Iran
  • Awarded by the Faculty President for academic achievements, University of Tehran, Iran, 2012
     

    Teaching

  • Signal Processing
  • Advanced Robotics
  • Advanced Engineering Mathematics
  • Modern Control
  • Mechatronics
  • Optimal Control

     

    Patents

  • Registered patent, “Developing a Biped Robot Using a New Four-bar Mechanism Based Design in the Legs”, No.72148 issued by Iranian Organization of Patents Registration, 30.10.2011
  • Registered patent, “Two Degrees of Freedom Parallel Mechanism for the Purpose of Rapid Imaging”, No.78963 issued by Iranian Organization of Patents Registration, 11.03.2013
     

    Published Papers

  • A. Karimi, M. Tale Masoule, and P. Cardou, Avoiding the Singularities of 3–RPR Parallel Mechanisms via Dimensional Synthesis and Self-Reconfigurability, Mechanism and Machine Theory, Volume 99, May 2016, pp. 189-206
  • A. Karimi, M. Danesh, A. Tabibian, and A. Nouri, Dynamic Analysis and Path Planning for a Redundant Actuated Biped Robot, Proc. IEEE. Int. Conf. on Control, Instrumentation and Automation (ICCIA), 2011, pp. 1074-1079
  • M.A. Mousavi, A. Karimi, and M. Tale Masouleh, On the Approximated and Maximal Singularity-free Workspace of 6-UPS Parallel Mechanisms Using Convex Optimization, First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), 13-15 Feb. 2013, pp.419-424
  • M. A. Mousavi, M. Tale Masouleh, A. Karimi, On the Maximal Singularity-Free Ellipse of Planar 3-RPR Parallel Mechanisms via Convex Optimization, Robotics and Computer-Integrated Manufacturing, Volume 30, Issue 2, April 2014, pp. 218-227
  • A. Karimi, M. Masouleh, P. Cardou, Obtaining the Maximal Singularity-free Workspace of 6-UPS Parallel Mechanisms via Convex Optimization, Computational Kinematics, volume 15 of Mechanisms and Machine Science, Springer Netherlands, 2014, pp. 239-247
  • A. Karimi, M. Tale Masoule, and P. Cardou, Singularity Free Workspace Analysis of General 6-UPS Parallel Mechanisms via Convex Optimization, Mechanism and Machine Theory, Volume 80, October 2014, pp. 17-34
  • A. Karimi, M. Tale Masoule, and P. Cardou, The Dimensional Synthesis of 3-RPR Parallel Mechanisms for a Prescribed Singularity-Free Constant-Orientation Workspace, Advances in Robot Kinematics, Springer International Publishing, 2014, pp. 365-373
  • E. R. J. Bozorgi, I. Yahyapour, A. Karimi, …, Design, Development, Dynamic Analysis and Control of a 2-DOF Spherical Parallel Mechanism, 2014 Second International Conference on Robotics and Mechatronics, IEEE, pp. 445-450.
  • H. Bayani, M. Tale Masouleh, A. Karimi, …, On the Determination of the Maximal Inscribed Ellipsoid in the Wrench-Feasible Workspace of the Cable-driven Parallel Robots. 2014 Second International Conference on Robotics and Mechatronics, IEEE, pp. 422-427
     

    Submitted Papers

  • A. Karimi, M. Tale Masoule, Optimal Motion Planning for 3-RPR Parallel Robots via Convex Relaxations, Advanced Robotics
  • R. S. Novin, M. Tale Masoule, A. Karimi, Optimal Motion Planning of Redundant Serial Manipulators by Applying a Synergy-based Approach between Convex Optimization, Disjunctive Programming and Receding Horizon, Journal of Systems and Control Engineering

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    Software skills

    • Maple, Matlab, Catia, Adams, LabView, Python, LaTeX
    • CVX, YALMIP, GloptiPoly 3, SOSTOOLS
    • CodeVisionAVR, Arduino IDE, Proteus, C/C++
    • ROS

     

    Refrences

  • Prof. Mehdi Tale Masouleh, University of Tehran, Iran
  • Prof. Philippe Cardou, Laval University, Canada
  • Prof. Amir Reza Kosari, University of Tehran, Iran
  • Prof. Mohammad Danesh, Isfahan University of Technology, Iran