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Mechanical Engineering

Mechanical Engineering

Dr. Kaveh Akbari Hamed
Assistant Professor


 Headshot photo of Dr. Kaveh Akbari Hamed

Ph.D., Sharif University of Technology
Assistant Professor of Mechanical Engineering

Control Theory, Robotics, Cyber-Physical Systems, Hybrid Dynamical Systems, and Optimization

Biography

Dr. Kaveh Akbari Hamed is currently an assistant professor in the Mechanical Engineering Department of San Diego State University (SDSU). He received his Ph.D. in Electrical Engineering with specialization in Robotics and Controls from Sharif University of Technology in June 2011. Subsequently, he held a postdoctoral research fellow position in the Electrical Engineering and Computer Science Department of the University of Michigan from January 2012 to August 2014. 

His primary academic interests span control theory, robotics, cyber-physical systems, hybrid dynamical systems, and optimization. His research goal is to establish a firm foundation to create innovative algorithms to systematically design resilient controllers for a wide range of dynamical systems with nonlinear and hybrid nature. Examples of these systems include, but are not limited to, autonomous robots for disaster response and industrial applications, wearable and rehabilitation robots like prostheses and orthoses to improve the quality of life for persons with disabilities, multiagent systems with decentralized control policies, walking and running robots with human/animal morphology, and complex systems.

 

 Current Projects and Funding:

  • NSF Award CMMI #1637704: NRI: Decentralized Feedback Control Design for Cooperative Robotic Walking with Application to Powered Prosthetic Legs, PI: Kaveh Akbari Hamed and Co-PI: Robert D. Gregg, 09/01/2016 to 08/31/2019, $612,213.00

Recent Book:

  • Hybrid Control and Motion Planning of Dynamical Legged Locomotion, Series on Systems Science and Engineering, Wiley-IEEE Press, 272 pages, Hoboken, NJ, USA, October 2012, ISBN: 978-1-118-31707-5


Selected Recent Publications: 

  • K. Akbari Hamed and R. D. Gregg, “Observer-based feedback controllers for exponential stabilization of periodic orbits for hybrid dynamical systems: Application to underactuated 3D bipedal walking,” The International Journal of Robotics Research, Under Review, October 2017
  • K. Akbari Hamed, A. D. Ames, and R. D. Gregg, “Observer-based feedback controllers for exponential stabilization of hybrid periodic orbits: Application to underactuated bipedal walking,” The 2018 American Control Conference (ACC), Under Review, September 2018
  • K. Akbari Hamed, R. D. Gregg, and A. D. Ames, “Exponentially stabilizing controllers for multi-contact 3D bipedal locomotion,” The 2018 American Control Conference (ACC), Under Review, September 2018
  • K. Akbari Hamed and R. D. Gregg, “Decentralized event-based controllers for robust stabilization of hybrid periodic orbits: Application to underactuated 3D bipedal walking,” IEEE Transactions on Automatic Control, Under Review, July 2017
  • K. Akbari Hamed and J. W. Grizzle, “Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: Application to bipedal locomotion,” Nonlinear Analysis: Hybrid Systems, vol. 25, pp. 227-245, August 2017
  • K. Akbari Hamed, B. G. Buss, and J. W. Grizzle, “Exponentially stabilizing continuous-time controllers for periodic orbits of hybrid systems: Application to bipedal locomotion with ground height variations,” The International Journal of Robotics Research, vol. 35, issue 8, pp. 977-999, August 2016
  • K. Akbari Hamed and R. D. Gregg, “Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking,” The 2016 American Control Conferences (ACC), pp. 4793-4800, Boston, MA, July 2016
  • B. G. Buss, K. Akbari Hamed, B. A. Griffin, and J. W. Grizzle, “Experimental results for 3D bipedal robot walking based on systematic optimization of virtual constraints,” The 2016 American Control Conferences (ACC), pp. 4785-4792, Boston, MA, July 2016
  • K. Akbari Hamed, and J. W. Grizzle, “Iterative robust stabilization algorithm for periodic orbits of hybrid dynamical systems: Application to bipedal running,” The IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), pp 161-168, October 2015
  • K. Akbari Hamed, B. G. Buss, and J. W. Grizzle, “Continuous-time controllers for stabilizing periodic orbits of hybrid systems: Application to an underactuated 3D bipedal robot,” 53rd IEEE Conference on Decision and Control (CDC 2014), Los Angeles, CA, USA, pp. 1507-1513, December 2014
  • K. Akbari Hamed and J. W. Grizzle, “Event-based stabilization of periodic orbits for underactuated 3D bipedal robots with left-right symmetry,” IEEE Transactions on Robotics, vol. 30, issue 2, pp. 365-381, April 2014
  • B. G. Buss, A. Ramezani, K. Akbari Hamed, B. A. Griffin, K. S. Galloway, and J. W. Grizzle, “Preliminary walking experiments with underactuated 3D bipedal robot MARLO,” 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, pp. 2529-2536, September 2014
  • A Ramezani, J. W. Hurst, K. Akbari Hamed, and J. W. Grizzle, “Performance analysis and feedback control of ATRIAS, a 3D bipedal robot,” ASME Journal of Dynamic Systems, Measurement and Control, DS-12-1421, October 2013
  • K. Akbari Hamed and J. W. Grizzle, “Robust event-based stabilization of periodic orbits for hybrid systems: Application to an underactuated 3D bipedal robot,” Proceedings of the 2013 American Control Conference (ACC), Washington, DC, USA, pp. 6206-6212, 2013
  • K. Akbari Hamed, N. Sadati, W. A. Gruver, and G. A. Dumont, “Stabilization of periodic orbits for planar walking with non-instantaneous double support phase,” IEEE Transactions on Systems, Man, and Cybernetics, Part A, vol. 42, issue 3, pp. 685-706, May 2012
  • K. Akbari Hamed, N. Sadati, W. A. Gruver, and G. A. Dumont, “Exponential stabilization of periodic orbits for running of a three-dimensional monopedal robot,” IET Control Theory and Applications, vol. 5, issue 11, pp. 1304-1320, July 2011
  • N. Sadati, G. A. Dumont, K. Akbari Hamed, and W. A. Gruver, “Two-level control scheme for stabilisation of periodic orbits for planar monopedal running,” IET Control Theory and Applications, vol. 5, issue 13, pp. 1528-1543, August 2011
  • R. Ansari, M. R. Feyzi, K. Akbari Hamed, N. Sadati, Y. Yasaei and S. Ouni, “Input-output linearisation of a fourth-order input-affine system describing the evolution of a three-phase/switch/level (Vienna) rectifier,” IET Power Electronics, vol. 4, issue 8, pp. 867-883, September 2011
  • N. Sadati, K. Akbari Hamed, W. A. Gruver, and G. A. Dumont, “Radial basis function network for exponential stabilization of periodic orbits for planar bipedal walking,” IET Electronics Letters, vol. 47, issue 12, June 2011
  • N. Sadati, K. Akbari Hamed, G. A. Dumont, and W. A. Gruver, “Nonholonomic motion planning based on optimal control for flight phases of planar bipedal running,” IET Electronics Letters, vol. 47, issue 20, September 2011
  • K. Akbari Hamed, N. Sadati, W. A. Gruver, and G. A. Dumont, “Continuous-time update laws with radial basis step length for control of bipedal locomotion,” IET Electronics Letters, vol. 46, issue 21, October 2010

Office: E-323H

Email: kakbarihamed@mail.sdsu.edu

Phone: (619) 594-0753

Fax: (619) 594-3599

M/C: 1323 

For more information, visit

Personal Webpage

 

Photo of 3 small robots and a large 4-legged robot

Photo of 4-legged walking robot 


 

Dept. of Mechanical Engineering, E-326

San Diego State University

5500 Campanile Drive

San Diego, CA 92182-1323