Publications

Journal Publications:

[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), 2024. [Youtube]  (In-press)

[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:

[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.

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]


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]