Publications

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Books

  1. A. Sharbafi, A. Seyfarth, “Bioinspired control for legged locomotion”, Elsevier S&T Books, December 2017.
  2. Beckerle, M. A. Sharbafi, T. Verstraten, P. Pott, A. Seyfarth, Novel bioinspired actuator designs for robotics, Springer, 2021.
  3. A. Sharbafi, M. Grimmer, A. Naseri, A. Seyfarth, Neural Control in prostheses and exoskeletons, In Powered prosthesis: Design, Control and Clinical Application, eds. H. Dallali, M. Rastgaar, E. Demircan, Elsevier, 2020.
  4. Hosseini, H. Hosseini, M. A. Sharbafi, “Principales of Operating XILINX FPGA and Designing Through ISE”, Azad University of Qazvin, 2010, ISBN: 978-964-223-273-7.
  5. H. Jung et al., BALANCE: Balance Augmentation in Locomotion, through Anticipative, Natural and Cooperative control of Exoskeletons, book chapter in 'Wearable Robotics for Motion Assistance and Rehabilitation, Springer, in press.

 

Journal Papers

  1. G. Zhao, O. Mohseni, A. Seyfarth, M. A. Sharbafi, “Exploring the effects of serial and parallel elasticity on hopping”, Frontiers in Neurorobotics, vol. 16, 2022.
  2. O. Mohseni, A. M. N. Rashty, A. Seyfarth, K. Hosoda & M. A. Sharbafi. Bioinspired Legged Robot Design via Blended Physical and Virtual Impedance Control. Journal of Intelligent & Robotic Systems, vol. 105, No. 22, 2022.
  3. O. Mohseni, P. Schmidt, A. Seyfarth, M. A. Sharbafi,  “Unified GRF-based control for adjusting hopping frequency with various robot configurations”. Advanced Robotics, vol. 36., No. 10, 2022.
  4. A. Naseri, Majid M. Moghaddam, M. Grimmer, and M. A. Sharbafi, “Passive hydraulic prosthetic foot to improve the rollover dynamics and the push-off during walking”, Mechanism and Machine Theory, vol. 172, pp. 104777, 2022.
  5. V. Firouzi, F. Bahrami, M. A. Sharbafi, “Human balance control in 3D running based on virtual pivot point concept.” Journal of Experimental Biology, vol. 225, no. 4, pp. jeb243080, 2022.
  6. R. Galljamov, A. Ahmadi, O. Mohseni, A. Seyfarth, P. Beckerle, & M. A. Sharbafi. Adjustable Compliance and Force Feedback as Key Elements for Stable and Efficient Hopping. IEEE Robotics and Automation Letters, vol. 6, No. 4, pp. 6797-6804, 2021.
  7. V. Firouzi, A. Davoodi, F. Bahrami and M. A. Sharbafi, “From a Biological Template Model to Gait Assistance with an Exosuit”, Bioinspiration and Biomimetics, vol. 16, no. 6, p. 066024, 2021.
  8. M. A. Sharbafi, M. J. Yazdanpanah, M. Nili Ahmadabadi & A. Seyfarth, “Parallel compliance design for increasing robustness and efficiency in legged locomotion – theoretical background and applications”, IEEE Transactions on Mechatronics, vol. 26, no. 1, pp. 335-346, 2021.
  9. A. Naseri, M. M. Moghaddam, M. Gharini and M. A. Sharbafi, “A Novel Adjustable Damper Design for a Hybrid Passive Ankle Prosthesis”, Actuators, MDPI, vol. 9, no. 3, 74, 2020.
  10. Schumacher, M. A. Sharbafi, A.Seyfarth and C. Rode, “Biarticular muscles in light of template models, experiments and robotics: A review”, Royal Society Interface, vol 17, no. 163, 20180413, 2020.
  11. Barazesh, and M. A. Sharbafi, A biarticular passive exosuit to support balance control can reduce metabolic cost of walking. Bioinspiration & Biomimetics, vol. 15, no. 3, 036009, 2020.
  12. Zhao, M. A. Sharbafi, M. Vlutters E. van Asseldonk and A. Seyfarth, “Template Model Inspired Leg Force Feedback Based Control Can Assist Human Walking”, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 27, no. 9, 1760-1769, 2019.
  13. A. Sharbafi, M. J. Yazdanpanah, M. Nili Ahmadabadi & A. Seyfarth, “Parallel compliance design for increasing robustness and efficiency in legged locomotion – proof of concept”, IEEE Transactions on Mechatronics, vol. 24, no. 4, 2019.
  14. Davoodi, Omid Mohseni, Andre Seyfarthy & A. Sharbafi, From Template to Anchors: Transfer of VPP balance template to adaptive neuromuscular gait model increases walking stability, Royal Society Open Science, vol. 6, no. 3, 181911, 2019.
  15. Sarmadi, C. Schumacher, Andre Seyfarth & M. A. Sharbafi, “Concerted control of stance and balance locomotor sub-functions- Leg force as a conductor”, IEEE Transactions on Medical Robotics and Bionics, vol. 1, pp. 49-57, 2019.
  16. Oehlke, P. Beckerle and A Seyfarth, M. A. Sharbafi, “Human-like hopping in machines- Feedback vs. Feed-forward controlled motions”, Biological Cybernetics, pp. 1-12, October 2018.
  17. A. Sharbafi, H. Barazesh, M. Iranikhah, & A. Seyfarth, “Leg force control through biarticular muscles for human walking assistance”, Frontiers in Neurorobotics, vol. 12, no. 39, 2018.
  18. Seyfarth, M. A. Sharbafi, G. Zhao, C. Schumacher, Modular Composition of Human Gaits Through Locomotor Subfunctions and Sensor-Motor-Maps. In: Carrozza M., Micera S., Pons J. (eds) Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. Springer, Cham, 2019
  19. D. Yazdi, M. A. Sharbafi, M. J. Yazdanpanah, M. Nili, “Modeling, control and analysis of a curved feet compliant biped with HZD approach”, Nonlinear Dynamics Journal, vol. 91, no. 1, pp. 459-473, 2018.
  20. A. Sharbafi, and A. Seyfarth. “How locomotion sub-functions can control walking at different speeds? ”, Journal of Biomechanics, vol. 53, pp. 163-170, 2017.
  21. A. Sharbafi, A. Seyfarth and G. Zhao, “Locomotor Sub-functions for Control of Assistive Wearable Robots”, Frontiers on Neurorobotics, vol. 11, 2017.
  22. A. Sharbafi, A. Mohammadinejad, C. Rode, and A. Seyfarth. “Reconstruction of human swing leg motion with passive biarticular muscle models”, Human Movement Science, vol. 52 pp. 96-107, 2017.
  23. A. Sharbafi, H. Shin, G. Zhao, K. Hosoda and A. Seyfarth, “Electric-Pneumatic Actuator: A New Muscle for Locomotion”, Actuators, MDPI, vol. 6. No. 4, pp. 30-45, 2017.
  24. A. Sharbafi, C. Rode, S. Kurowski, D. Scholz, R. Möckel, K. Radkhah, G. Zhao, A Mohammadinejad, O. von Stryk and A. Seyfarth, “A new biarticular actuator design facilitates control of leg function in”, Bioinspiration and Biomimetics, vol. 11, No. 4, pp. 046003, 2016.
  25. A. Sharbafi, S. Taleghani, E. Esmaeeli, “ICE Matching, Robust and Fast Featured-based Scan Matching for an Online Operation”, Journal of Experimental & Theoretical Artificial Intelligence, vol. 26, No. 3, 2014.
  26. A. Sharbafi, O. A. Ghiasvand, S. A. Ramandi, “Hierarchical Hybrid Fuzzy Decision Making in Multi Agent Time Critical Environment”, International Journal of Innovation, Management and Technology, vol. 5, no. 1, pp.56-60, 2014.
  27. A. Sharbafi, C. Maufroy, A. Seyfarth, M. J. Yazdanpanah, M. Nili Ahmadabadi, “Robust hopping based on Virtual Pendulum Posture Control”, Biomimetics and Bioinspiration Journal, vol. 8, 036002, 2013.
  28. B. Babarsad and M. A. Sharbafi, "Modeling and Simulating of Omni Directional SoccerRobot," International Journal of Modeling and Optimization vol. 2, no. 5, pp. 629-633, 2012.
  29. A. Sharbafi, M. J. Yazdanpanah, “IDFC, a New Approach to Control Bifurcation in TCP/RED”, Journal of Network and Computer Applications, vol. 34, No. 6, 2011.
  30. A. Sharbafi, C. Lucas, R. Daneshvar, “Motion Control of Omni-Directional Three-Wheel Robots by Brain Emotional Learning Based Intelligent Controller”, IEEE Transaction on Systems, Man and Cybernetics; Part C Application and Reviews, vol. 40, No. 6, pp. 630-638, 2010.
  31. A. Ghiasvand, M. A. Sharbafi, “Using Earliest Deadline First Algorithms for Coalition Formation in Dynamic Time-critical”, International Journal of Information and Education Technology (IJIET), vol. 1, No, 2, June 2011.
  32. A. Sharbafi, A. Mohammadinejad, A. K. Sedigh, J. Roshanian, “Stability Proof of Gain-Scheduling Controller for Skid-to-Turn Missile Using Kharitonov Theorem”, Journal of Aerospace Society and Technology, vol. 6, No. 2, 2009.
  33. Aghazade, M. A. Sharbafi, A. T. Haghighat, “Implementing Parametric Reinforcement Learning in Robocup Rescue Simulation”, RoboCup 2007: Robot Soccer World Cup XI, Springer Berlin / Heidelberg, vol. 5001, pp.409-416, 2008.
  34. A. Sharbafi, C. Lucas, A. Mohammadinejad, “Using BELBIC based Optimal Controller for Omni-directional three-wheel Robots Model identified by LOLIMOT”, in Journal of Computer and Robotics, vol.1, no. 1, 2008.
  35. A. Sharbafi, M. Shakiba Herfeh, C. Lucas, A. Mohammadinejad “An Innovative Fuzzy Decision Making Based Genetic Algorithm”, International Journal of Electrical and Computer Engineering, Vol.2, No. 7, pp. 1493-1496, 2008.
  36. A. Sharbafi, C. Lucas, M. Yaghubi, "Designing a football team of robots from beginning to end", International Journal of Electrical and Computer Engineering, Vol. 1, No. 7, pp. 1037-1044, 2007.
  37. A. Sharbafi, C. Lucas, O. AmirGhiasvand, O. Aghazade, A. T. Haghighat, “Using Emotional Learning in Rescue Simulation Environment”, Transactions on Engineering, Computing and Technology, Vol.13, 2006.

 

Peer Reviewed Conference Proceedings:

  1. O. Mohseni, P. Schmidt, A. Seyfarth, M. A. Sharbafi, “Vastus and Gastrocnemius improve hopping efficiency and joints synchronicity at different frequencies: a robotic study”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), Kyoto, Japan, 2022.
  2. V. Firouzi, O. Mohseni, and M. A. Sharbafi, Model-based Control for Gait Assistance in the Frontal Plane, in IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Seul, South Korea, 2022.
  3. M. A. Sharbafi, “Morphology and Compliance roles in Designing Exosuits.” In WearRAcon Europe conference 2021.
  4. M. A. Sharbafi, “The Key Elements in the Design of Passive Assistive Devices.” In Wearable Robotics: Challenges and Trends. WeRob 2020. Biosystems & Biorobotics, vol 27. Springer, 2020.
  5. O. Mohseni, F Gagey, G. Zhao, A. Seyfarth, M. A. Sharbafi, “How Far Are Pneumatic Artificial Muscles from Biological Muscles?”, IEEE International Conference on Robotics and Automation (ICRA), May 31-June 4, Paris, France, 2020.
  6. V. Firouzi, M. A. Sharbafi, “TIP Model: A Combination of Unstable Subsystems for Lateral Balance in Walking”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), 4-8 Nov, Macao, China, 2019.
  7. M. A. Sharbafi, M. Zadravec, Z. Matjačić & A. Seyfarth, “A 3D Template Model for Healthy and Impaired walking”,  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), 1-5 Oct, Madrid, Spain, 2018.
  8. A. Sarmadi, M. A. Sharbafi, C. Schumacher and A. Seyfarth, “Force-Feedback coordinates stance and balance locomotor subfunctions in hopping”, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2018), 26-29 Aug, Enschede, The Netherlands, 2018.
  9. A. Sarmadi, M. A. Sharbafi and A. Seyfarth, “Reflex control of body posture in standing”, IEEE-RAS 17th International Conference on Humanoid Robots (Humanoids) Birmangham, UK, Nov 15-17, 2017.
  10. G. Zhao, M. A. Sharbafi, M. Vlutters E. van Asseldonk and A. Seyfarth, “Template Model Inspired Leg Force Feedback Based Control Can Assist Human Walking”, IEEE-RAS 17th International Conference on Rehabilitation Robotics (ICORR), London, UK, 2017.
  11. M. A. Sharbafi, A. Seyfarth, “VBLA, a Swing Leg Control Approach for Humans and robots”, IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) Cancun, Mexico, Nov 15-17, 2016.
  12. J. Oehlke, M. A. Sharbafi, P. Beckerle and A Seyfarth, “Template-based hopping in a two-segmented robotic leg”, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2016), 26-29 Jun, Singapore, Singapore.
  13. M. A. Sharbafi, A Seyfarth, “FMCH: a new model for human-like postural control in walking”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), 28 Sep-2Oct 2015, Hamburg, Germany.
  14. M. A. Sharbafi, A Seyfarth, “Mimicking human walking with 5-link model using HZD controller”,  IEEE International Conference on Robotics and Automation (ICRA 2015), 26-30 May 2015, Seattle, USA.
  15. A. Mohammadinejad, M. A. Sharbafi, A Seyfarth, “Swing-leg pendulum model for running”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 14-18 Sep 2014, Chicago, USA.
  16. M. A. Sharbafi, K. Radkhah, O. Von Stryk, A Seyfarth, “Hopping control for the musculoskeletal bipedal robot: BioBiped”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 14-18 Sep 2014, Chicago, USA.
  17. M. A. Sharbafi, A Seyfarth, “Stable running by leg force-modulated hip stiffness”, IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014) 12-15 August 2014, São Paulo, Brazil.
  18. K. L. Poggensee, M. A. Sharbafi, A Seyfarth, “Characterizing Swing-Leg Retraction in Human Locomotion”, 17th International Conference on Climbing and Walking Robots (Clawar 2014), 21-23 July 2014, Poznan, Poland.
  19. M. A. Sharbafi, M. Nili Ahmadabadi, M. J. Yazdanpanah, A. Mohammadinejad, A Seyfarth, “Compliant hip function simplifies control for hopping and running”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), 3-8 Nov 2013, Tokyo, Japan.
  20. M. A. Sharbafi, C. Maufroy, H. M. Maus,  A. Seyfarth, M. J. Yazdanpanah, M. Nili Ahmadabadi,  “Controllers for Robust Hopping with Upright Trunk based on the Virtual Pendulum Concept”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), 7-12 Oct 2012, Vila Moura, Portugal.
  21. M. A. Sharbafi, M. J. Yazdanpanah, M. Nili, “Increasing the Robustness of Acrobot walking control using compliant mechanisms”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), 25-30 Sep 2011, San Francisco, USA.
  22. M. A. Sharbafi, M. J. Yazdanpanah, M. Nili, “Compliance design in robot structure to increase the robustness”, Dynamic Walking 2011, 18-21 July 2011, Jena, Germany.
  23. A. Azidehak, M. Hoshyari, M. A. Sharbafi, “Design and Implementation of Minimal Components BLDC Motor Driver for Mobile Robots”, IEEE International Conference on Mechatronics (ICM 2011), 13-15 Apr 2011, Istanbul, Turkey.
  24. M. A. Sharbafi, S. Taleghani, E. Esmaeeli, A. T. Haghighat, “ICE Matching, a Novel Approach for Localization Problem”,  IEEE International Conference on Control, Automation and Systems (ICCAS 2010), Gyeonggi-do, South Korea, Oct 27-30, 2010.
  25. O. A. Ghiasvand, A. T. Haghighat, M. A. Sharbafi, “Using Coalition formation Mechanism for coordination”, IEEE International Conference on Engineering and Information Management (ICEIM 2011), 16-17 Apr 2011, Chengdu, China.
  26. S. Taleghani, M. A. Sharbafi, Edriss Esmaeeli, A. T. Haghighat, “ICE Matching, a Robust Mobile Robot Localization with Application to SLAM”, IEEE 22nd International Conference on Tools with Artificial Intelligence (ICTAI10), Arras, France, Oct 27-29, 2010.
  27. O. Bakhshandeh, M. A. Sharbafi, “Modelling and simulating of omnidirectional soccer robots”, submitted to 3rd IEEE International Conference on Computer modeling and simulation (ICCMS 11), Jan 7-9, Mumbai, India.
  28. A. Haghshenas, M. A. Sharbafi, D. Esmaeeli, O. Bakhshandeh, “Bayer-Based Vision System: Image processing over an incomplete color-Space”, International Conference on Image Processing, Computer Vision, & Pattern Recognition (WORLDCOMP/IPCV'10), Las Vegas, Nevada, USA July 12-15, 2010.
  29. M. Eghbali, M. A. Sharbafi, “Multi agent routing to multi targets via Ant Colony”, IEEE International Conference on Computer and Automation Engineering (ICCAE 2010), Singapore, February 26 – 28, 2010.
  30. M. A. Sharbafi, A. Mohammadinejad, “An Innovative Method for Identification of Dynamic Systems Based on LoLiMoT”, 17th World Congress the International Federation of Automatic Control (IFAC 08), Seoul, Korea, July 6-11, 2008.
  31. A. N. Dariani, A. F. Neishabour, A. Rahimi-Kian, M. A. Sharbafi, “Designing a Bidding-Agent for Electricity Markets: A Multi Agent Cooperative Learning Approach”, 17th World Congress the International Federation of Automatic Control (IFAC08), Seoul, South Korea, July 6-11, 2008.
  32. S. Kamalinia, M. Khodayar, S. Afsharnia, A. Rahimikian, M. A. Sharbafi, “System Optimal Planning Using Multi-Attribute Decision Making and Genetic Algorithm Based Approach with Distributed Generation”, GGG POWER 2007 CONFERENCE & EXHIBITION, Dubai 5th – 7th November 2007.
  33. S. Kamalinia, M. Khodayar, S. Afsharnia, A. Rahimikian, M. A. Sharbafi "A Combination of Multi-Attribute Decision Making and Genetic Algorithm for Optimal DG Allocation in Power Systems", UPEC 42nd International University's Power Engineering Conference, September 2007, Brighton, England
  34. M. A. Sharbafi, A. Mohammadinejad, “Improving the Robustness of an Adaptive Optimal Controller Using Reinforcement Learning”, 15th Iranian Conference on Electrical Engineering, Tehran, Iran 2007.
  35. A. Mohammadinejad, A. K. Sedigh, J. Roshanian, M. A. Sharbafi “Stability Analysis of Gain-Scheduling Controller for missile guidance using root locus and Kharitonov Theory”, 6th Conference of Iranian Aerospace Society, Tehran, Iran 2007.
  36. R. Daneshvar, M. A. Sharbafi and C. Lucas, “Formation of Football Team of Small Size Robots without Explicit Coordination”, 7th Conference on Intelligent Systems (CIS 2005), Tehran, Iran, December 2005.
  37. M. A. Sharbafi, R. Daneshvar and C.  Lucas, "New Implicit Approach in Coordination between Soccer Simulation footballers“, Conference on Computer Science and Information Technologies (CSIT 2005), Yerevan, Armenia, September 2005.
  38. M. A. Sharbafi, C. Lucas, M. Yaghubi, "Determining Small Size Footballers Strategies with help of Primitive Actions" 7th Conference on Intelligent Systems, Tehran, Iran, December 2005.
  39. M. Teshnelab, A. Mohammadnejad Rashty, M. A. Sharbafi “Improvement of the Performance of Adaptive Fuzzy Controllers with a New Genetic Algorithm,” 6th Conference on Intelligent Systems, Kerman, Iran, 2004.

 

Other conference presentations:

 

  1. Firouzi, A. Seyfarth, and M. A. Sharbafi, “Does VPP exist in lateral balancing?”, International Symposium on Adaptive Motion of Animals and Machines (AMAM), 20-23 Aug 2019, Lausanne, Switzerland

A Davoodi, O Mohseni, A Seyfarth, M. A Sharbafi, “nmF: a leg force guided neuromuscular model for balance control in walking”, International Symposium on Adaptive Motion of Animals and Machines (AMAM), 20-23 Aug 2019, Lausanne, Switzerland

  1. A. Sharbafi, A. Seyfarth, “Locomotor sub-functions for design and control of locomotion”, Dynamic Walking 2017, 4-9 Jun 2017, Mariehamn, Finland
  2. Sarmadi, M. A. Sharbafi, A. Seyfarth, “The Effects of Muscles Sensory Information on Postural Balance using Inverted Pendulum Model.”, Dynamic Walking 2017, 4-9 Jun 2017, Mariehamn, Finland
  3. A. Sharbafi, A. Seyfarth, “Velocity based Leg adjustment for walking”, Dynamic Walking 2015, 4-9 Jun 2015, Columbus, Ohio, USA.
  4. Mohammadinejad, M. A. Sharbafi, C. Rode, A. Seyfarth, “Role of Bi-articular muscles during swing phase of walking”, Dynamic Walking 2013, 10-13 Jun 2013, Pittsburg, USA.
  5. A. Sharbafi, A. Seyfarth, M. Nili, M. J. Yazdanpanah, “Novel leg adjustment approach for hopping and running”, Dynamic Walking 2013, 10-13 Jun 2013, Pittsburg, USA.
  6. D. Yazdi, M. A. Sharbafi, M. J. Yazdanpanah, M. Nili, “Hybrid Zero Dynamic Control Approach for a Curved Feet Bipedal SLIP”, Dynamic Walking 2013, 10-13 Jun 2013, Pittsburg, USA.
  7. A. Sharbafi, A. Seyfarth, “Human leg adjustment in perturbed hopping”, 6th International Symposium on Adaptive Motion of Animals and Machines (AMAM2013), 11-14 March 2013, Darmstadt, Germany.
  8. D. Yazdi, M. A. Sharbafi, M. J. Yazdanpanah, M. Nili, “Foot design for bipedal walking using HZD-based control approach”, 6th International Symposium on Adaptive Motion of Animals and Machines (AMAM2013), 11-14 March 2013, Darmstadt, Germany.
  9. A. Sharbafi, M. J. Yazdanpanah, M. Nili, “Compliance design in robot structure to increase the robustness”, Dynamic Walking 2011, 18-21 July 2011, Jena, Germany.

 

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