Publications

Conference Publications

C9. M. Boroji, V. Danesh, I. Kao, A. Fakhari, “Motion Planning for Object Manipulation by Edge-Rolling,” 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 (Accepted for Publication).

C8. J. Best and A. Fakhari, Development of a Novel Impedance-Controlled Quasi-Direct-Drive Robotic Hand, The 21st International Conference on Ubiquitous Robots (UR), 2024, (Under Review).

C7. A. Fakhari, A. Patankar and N. Chakraborty, “Motion and Force Planning for Manipulating Heavy Objects by Pivoting,” 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 9393-9400, doi: 10.1109/IROS51168.2021.9636103.

C6. A. Fakhari, A. Patankar, J. Xie and N. Chakraborty, “Computing a Task-Dependent Grasp Metric Using Second-Order Cone Programs,” 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 4009-4016, doi: 10.1109/IROS51168.2021.9636197.

C5. A. Patankar, A. Fakhari and N. Chakraborty, “Hand-Object Contact Force Synthesis for Manipulating Objects by Exploiting Environment,” 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 9182-9189, doi: 10.1109/IROS45743.2020.9341316.

C4. A. Fakhari and A. Mostashfi, “LinBot - Design, Analysis, and Field Test of a Novel Power Transmission Lines Inspection Robot,” 2019 7th International Conference on Robotics and Mechatronics (ICRoM), 2019, pp. 132-137, doi: 10.1109/ICRoM48714.2019.9071839.

C3. A. Fakhari, M. Keshmiri, M. Keshmiri, “Dynamic Modeling and Slippage Analysis in Object Manipulation by Soft Fingers,” ASME International Mechanical Engineering Congress & Exposition (IMECE), Montreal, Quebec, Canada, Nov. 2014.

C2. A. Fattah and A. Fakhari, “Trajectory Planning of Walking with Different Step Lengths of a Seven-Link Biped Robot,” ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), Montreal, Quebec, Canada, Aug. 2010.

C1. A. Fattah, A. Fakhari, and S. Behbahani, “Dynamics Modeling and Trajectory Planning of a Seven-Link Planar Biped Robot,” 17th Annual (International) Conference on Mechanical Engineering (ISME), Tehran, Iran, May 2009.

Journal Publications

J9. C. Saldarriaga, A. Fakhari, I. Kao, “Dynamic Response of Redundant Robot Manipulators under Impedance Control with Null-Space Control by Applying Modal Analysis,” IEEE Transactions on Robotics, 2024, (Under Review).

J8. G. He, A. Fakhari, F. Khan, I. Kao, “Propagation of Error and Uncertainty in a Computer Assisted Orthopedic Surgical System,” IEEE Transactions on Instrumentation & Measurement, vol. 73, pp. 1-15, 2024.

J7. G. He, A. Fakhari, F. Khan, I. Kao, “Experimental and Computational Study of Error and Uncertainty in Real-Time Camera-Based Tracking of a Two-Dimensional Marker for Orthopedic Surgical Navigation,” Journal of Verification, Validation and Uncertainty Quantification, vol. 8, iss. 2, 2023.

J6. A. Fakhari, I. Kao, and M. Keshmiri, “Modeling and Control of Planar Slippage in Object Manipulation Using Robotic Soft Fingers,” ROBOMECH Journal, vol. 6, iss. 15, 2019.

J5. A. Fakhari, M. Keshmiri, I. Kao, and S. Hadian Jazi, “Slippage Control in Soft Finger Grasping and Manipulation,” Advanced Robotics, vol. 30, iss. 2, pp. 97-108, 2016.

J4. A. Fakhari, M. Keshmiri, and I. Kao, “Development of Realistic Pressure Distribution and Friction Limit Surface for Soft-Finger Contact Interface of Robotic Hands,” Journal of Intelligent and Robotic Systems, vol. 82, iss. 1, pp. 39-50, 2016.

J3. A. Fakhari, M. Keshmiri, “Slippage Dynamic Modeling in Object Grasping and Manipulation with Soft Fingers,” Modares Mechanical Engineering, vol. 15, no. 8, pp. 332-340, 2015.

J2. A. Mostashfi, A. Fakhari, and M.A. Badri, “Simulation and Experimental Validation of a New Cable Inspection Robot for High Voltage Lines,” Mechanical Engineering Sharif, vol. 31-3, no. 2, pp. 25-32, 2015.

J1. A. Mostashfi, A. Fakhari, and M.A. Badri, “A Novel Design of Inspection Robot for High-Voltage Power Lines,” Industrial Robot: An International Journal, vol. 41, no. 2, pages 166–175, 2014.

Patents

P1. A. Mostashfi, A. Fakhari, M. Sakkak, M. Sadeghi, and M.A. Badri, “Inspection Robot for High-Voltage Power Lines,” IR Registration No. 81449, Tehran, Iran, Dec. 18, 2013.