Behnam Aghbali

Papers

Total Citations

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About

Behnam Aghbali’s research centers on the control and optimization of robotic systems, with a particular focus on humanoid robots and cable-driven manipulators. His most cited work, “ZMP trajectory control of a humanoid robot using different controllers based on an offline trajectory generation” (2013, 15 citations), addresses a fundamental challenge in humanoid robotics: maintaining dynamic stability. By implementing PID and fuzzy controllers on the Surena II humanoid model, Aghbali demonstrated how zero moment point (ZMP) trajectory control can ensure stability both with and without external disturbances, offering a comparative analysis that informs real-world robot design. His earlier work, “Design Optimization of a 3-D Three Cable Driven Manipulator” (2012, 3 citations), explores the optimization of cable-driven robots—a class of manipulators valued for their lightweight structure and large workspace. Through simulation, he analyzed cable tension and stiffness along specific paths, providing a framework for improving robot performance before physical construction. Though his citation counts are modest, Aghbali’s contributions are notable for their practical approach to robotic stability and optimization, bridging theoretical control methods with applied robotics. His work serves as a stepping stone for researchers interested in humanoid locomotion and cable robot design, particularly in contexts requiring precise trajectory planning and disturbance rejection.