Publications

Journal Publications:

[15]  J. Terayama, J. Salazar, A. A. Ravankar, S. A. Tafrishi, Y. Hirata
“Concept and Prototype Development of Adaptive Touch Walking Support Robot for Maximizing Human Physical Potential”,
IEEE Robotics and Automation Letters (RA-L) with ICRA2025 Presentation, vol. 9, no. 8, pp. 6935-6942, Aug. 2024.  

[14] Q. Wen, S.A. Tafrishi , Z. Ji and Y. Lai
“GLSkeleton: A Geometric Laplacian-based Skeletonisation Framework for Object Point Clouds”,
IEEE Robotics and Automation Letters (RA-L) with ICRA@40 Presentation, vol. 9, no. 5, pp. 4615-4622, May 2024.  

[13] S.A. Tafrishi  and Y. Hirata
“SPIRO: A Compliant Spiral Spring-Damper Joint Actuator with Energy-Based-Sliding-Mode Controller”,
IEEE/ASME Transactions on Mechatronics (T-MECH), vol. 29, no. 2, pp. 947-959, April 2024. [Youtube]

[12] U. Mavinkurve, A. Kanada, S.A. Tafrishi, K. Honda, Y.  Nakashima, and M. Yamamoto,
“Geared rod-driven continuum robot with woodpecker-inspired extension mechanism and IMU-based force sensing”,
IEEE Robotics and Automation Letters (RA-L) with ICRA2024 presentation, vol. 9, no. 1, pp. 135-142,  2024. [Youtube]

[11] S.A. Tafrishi, M. Svinin, M. Yamamoto and Y. Hirata,
“A Geometric Motion Planning of Spin-Rolling Sphere on Plane”,
Applied Mathematica Modeling, Elsevier, vol. 121, pp. 542-561, 2023. [Youtube] 

[10] Z. Dong, J. Salazar, A. A. Ravankar, S. A. Tafrishi, Y. Hirata
“A Performance Evaluation of Overground Gait Training with a Mobile Body Weight Support System using Wearable Sensors”,
IEEE Sensors Journal, vol. 23, no. 11, pp. 12209-12223, 2023. 

[9] A. A. Ravankar*, S. A. Tafrishi*, J. Salazar*, F. Seto and Y. Hirata
“CARE: Cooperation of AI-Robot Enablers to Create a Vibrant Society”,
IEEE Robotics and Automation Magazine (RAM) with ICRA2023 presentation, vol. 30, no. 1, pp. 8-23, 2023.  [ Youtube]

[8] S.A. Tafrishi, M. Svinin and M. Yamamoto,
“Darboux-Frame-Based Parametrization for a Spin-Rolling Sphere on a Plane: A Nonlinear Transformation of Underactuated System to Fully-Actuated Model”,
Mechanism and Machine Theory, Elsevier, vol. 164, pp. 104415, 2021. [ArXiv]

[7] S.A. Tafrishi, M. Svinin, and M. Yamamoto,
“Inverse Dynamics of Underactuated Planar Manipulators without Inertial Coupling Singularities”,
Multibody System Dynamics, Springer, vol. 52, no. 4, pp. 407–429, 2021. 

[6] S.A. Tafrishi, M. Svinin, and M. Yamamoto,
“A Motion Tracking Filter for Inertial Measurement Unit with On-board Ferromagnetic Materials”,
IEEE Robotics and Automation Letters (RA-L) with joint ICRA option, vol. 6, no. 3, pp. 4939-4946, 2021. [GitHub, YouTube]
The  paper was presented in ICRA 2021

[5] S.A. Tafrishi, D. Xiaotian, and V. Esmaeilzadeh Kandjani,
“Line-Circle-Square (LCS): A Multilayered Geometric Filter for Edge-Based Detection”, 
Robotics and Autonomous Systems, Elsevier, vol. 137, pp. 103732, 2021 [ArXiv, GitHub, YouTube]

[4] S.A. Tafrishi, Y. Bai, M. Svinin, E. Esmaeilzadeh, and M. Yamamoto,
“Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot”,
Russian Journal of Nonlinear Dynamics, vol. 15, no. 4, pp. 611-622, 2019.

[3]  S.A. Tafrishi, M. Svinin, E. Esmaeilzadeh. and M. Yamamoto,
"Design, Modeling, and Motion Analysis of a Novel Fluid Actuated Spherical Rolling Robot",
ASME Journal of Mechanisms Robotics, 2019, vol. 11, no. 4, pp. 041010, 2019.  [pdf]

[2] M. Babayan, P. Tabatabaee-Hosseini, N. Esmaeilzadeh Kandjani, S.A. Tafrishi, M. Jafari, and E. Esmaeilzadeh,
"Experimental Investigation of Flow and Coherent Properties of Excited Non-Circular Liquid Jets",
Journal of Applied Fluid Mechanics, vol. 12, no. 5, pp. 1667-1681, 2019. [pdf]

[1] N. Esmaeilzadeh Kandjani, S. Nurelahi, S.A. Tafrishi, E. Esmaeilzadeh.
"Numerical Study of Chip Cooling with Internal Nanofluid in Minichannels and External Air Flow Over Sink with Laminar Regimes",
IEEE Micro &  Nano Letters,  vol. 13, no. 8, pp. 1105-1110, 2018.  [pdf]

* The authors contributed equally.

Conference Publications:

[22] L. Zhiwei and S.A. Tafrishi
“MonoRollBot: 3-DOF Spherical Robot with Underactuated Single Compliant Actuator Design”,   
IEEE International Conference on Soft Robotics (RoboSoft), Lausanne, Switzerland, 2025 [ArXiv] 

[21] O. Wiltshire and S.A. Tafrishi
“Design and Motion Analysis of a Reconfigurable Pendulum-Based Rolling Disk Robot with Magnetic Coupling”, [Best Paper Award Runner-up]
Towards Autonomous Robotic Systems (TAROS) Conference, Brunel University London, UK, 2024 

[20] M. Kyrsov and S.A. Tafrishi,
“Development of Underactuated Geometric Compliant (UGC) Module with Variable Radial for Robotic Applications”,
Towards Autonomous Robotic Systems (TAROS) Conference, Brunel University London, UK, 2024.  

[19] Q. Wen, S.A. Tafrishi, Z. Ji and Y. Lai
“What Criteria Define an Ideal Skeletonisation Reference in Object Point Clouds?”,
Towards Autonomous Robotic Systems (TAROS) Conference, Brunel University London, UK, 2024.  

[18] S.A. Tafrishi, A. A. Ravankar and Y. Hirata
“Safety for Human-Robot Interaction with a Shared Autonomy”,
Cardiff University School of Engineering Research Conference, Cardiff, UK, pp. 91-94, 2024.  

[17] P. Rayamane, F. Munguia-Galeano,  S.A. Tafrishi, Z. Ji
“Towards Smooth Human-Robot Handover with a Vision-Based Tactile Sensor”,
Towards Autonomous Robotic Systems (TAROS) Conference, Cambridge, UK, pp. 13-15, 2023.  

[16] Y. Hirata, J.  Salazar, A. A. Ravankar and  S.A. Tafrishi
“Cooperation of Assistive Robots to Improve Productivity in the Nursing Care Field”,
International Symposium of Robotics Research (ISRR), Geneva, Switzerland, pp. 287-294, 2023. [pdf]

[15] A. Chikhalikar, A. A. Ravankar, J. Salazar, S. A. Tafrishi, Y. Hirata
“An Object-oriented Navigation Strategy for Service Robots Leveraging Semantic Information in Indoor Environments”,
IEEE/SICE International Symposium on System Integrations (SII), Atlanta, USA, pp. 1-6, 2023. 

[14] G. Aoki, J. Salazar, S. A. Tafrishi, A. A. Ravankar, Y. Hirata
“Care Teaching System Based on Mixed Reality  for Effective Caregiver-Patient Interaction”,
IEEE/SICE International Symposium on System Integrations (SII), Atlanta, USA, pp. 1-6,  2023. 

[13] S.A. Tafrishi, A. A. Ravankar and Y. Hirata
“PSM: A Predictive Safety Model for Body Motion Based On the Spring-Damper Pendulum”,
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, pp. 6657-6664, 2022. [ArXiv,  YouTube]

[12] S.A. Tafrishi, X. Dai, Y. Hirata and A. Burns
“Discretization and Stabilization of Energy-based Controller for Period Switching Control and Flexible Scheduling”,
IEEE American Control Conference  (ACC), Atlanta, USA, pp. 844-849, 2022.[ArXiv]

[11] S.A. Tafrishi, A. A. Ravankar, J.  Salazar and Y. Hirata
“A Novel Assistive Controller Based on Differential Geometry for Users of the Differential-Drive Wheeled Mobile Robots”,
International Conference on Robotics and Automation  (ICRA), Philadelphia (PA), USA, pp. 5755-5761, 2022. [ArXiv,  YouTube]

[10] K. Promsutipong, J. Salazar, A. A. Ravankar, S.A. Tafrishi and Y. Hirata,
“Immersive Virtual Walking System using an Avatar Robot”,
International Conference on Robotics and Automation  (ICRA), Philadelphia (PA), USA, pp. 9325-9331, 2022.  [pdf] 

[9] S.A. Tafrishi, A. A. Ravankar, J. Salazar and Y. Hirata,
“A Geometric Assistive Controller for the Users of Wheeled Mobile Robots without Desired States”,
IEEE International Conference on Robotics and Biomimetics  (ROBIO), pp. 1953-1959,  2021.  

[8] K. Herteberg, J. Salazar, S.A. Tafrishi, A. A. Ravankar and Y. Hirata,
“Evaluation of an Avatar Robot with a Physically Immersive Telepresence”,
IEEE International Conference on Robotics and Biomimetics  (ROBIO),  pp. 99-104, 2021.  

[7] U. K. Mavinkurve, S.A. Tafrishi, A. Kanada, K. Honda, Y. Nakashima and M. Yamamoto,
“An experimental study on energy-based control of rigid parallel series elastic actuator”,
IEEE World Automation Congress  (WAC),  pp. 26-31, 2021.   

[6] U. K. Mavinkurve, S.A. Tafrishi, A. Kanada, and M. Yamamoto,
“An energy based control for vibration suppression using an elastic actuator”,
IEEE/SICE International Symposium on System Integration  (SII), Fukushima, Japan , pp. 600-605, 2021. 

[5] S.A. Tafrishi, M. Svinin and M. Yamamoto,
“Singularity-Free Inverse Dynamics for Underactuated Systems with a Rotating Mass ”,
International Conference on Robotics and Automation  (ICRA), Paris, France, pp. 3981-3987, 2020.  [ArXiv, YouTube]

[4] S.A. Tafrishi, M. Svinin, E. Esmaeilzadeh, and M. Yamamoto,
“A Fluid-Actuated Driving Mechanism for Rolling Robots”,
IEEE 4th International Conference on Advanced Robotics and Mechatronics  (ICARM), Toyonaka, Japan, pp. 256-261, 2019. [pdf]

[3] S.A. Tafrishi, V. E. Kandjani,
“Line-Circle: A Geometric Filter for Single Camera Edge-Based Object Detection”,
IEEE 5th International Conference on Robotics and Mechatronics  (ICRoM), Tehran, pp. 588-594, 2017. [pdf, ArXiv, GitHub]

[2] S.A. Tafrishi, M. Svinin, and E. Esmaeilzadeh,
“Effects of the Slope on the Motion of Spherical RollRoller Robot”,
IEEE/SICE International Symposium on System Integration (SII), Sapporo, Japan, pp. 875-880, 2016. [pdf]

[1] M. Kouzehgar, S. A. Tafrishi, and A. Maleki,
“Dynamic Analysis of a Novel Wormly-Structured Snake Robot”,
The 21st Iranian Conference on Electrical Engineering (ICEE), 2013.  

Patents:

[2] S. A. Tafrishi and Y. Hirata,
”A multi-function rolling joint with variable impedance actuator,"
in Japan Intellectual Property, no. P20210225WO, JP & WIPO,  2022. (pending)

[1] S. A. Tafrishi, M. Shahbazi, and A. Maleki,
”Portable colonoscope: Wireless medical hybrid snake robot,"
in Iran Intellectual Property and Ministry of Health and  Medical Education, Serial IR. 78581, 2013.

Thesis:

S. A. Tafrishi,
“Design, Modeling and Motion Planning of Underactuated Spherical Robots,”
PhD thesis, Kyushu University, Fukuoka, Japan, Mar., 2021.
Main Supervisor: Prof. Motoji Yamamoto, 2nd Supervisor: Prof. Mikhail Svinin, 3rd Supervisor: Prof. Esmaeil Esmaeilzadeh 

S. A. Tafrishi,
“"RollRoller" Novel Spherical Mobile Robot Basic Dynamical Analysis and Motion Simulations,”
Master’s thesis, University of Sheffield, Sheffield, UK, Sep. 2014, Available at ArXive Library. [pdf]
Prof. Sandor Veres

Reports:

 S.A. Tafrishi, S. M. Veres, E. Esmaeilzadeh, and M. Svinin
“Dynamical Behavior Investigation and Analysis of Novel Mechanism for Simulated Spherical Robot named "RollRoller"",
ArXive Library, 2016. [pdf]