Hamid D. Taghirad

About

Hamid D. Taghirad is a prominent robotics researcher whose work has profoundly shaped the fields of parallel robotics, cable-driven systems, and robot control. Best known for his authoritative contributions to parallel robot mechanics and control, his textbook *Parallel Robots: Mechanics and Control* (2013) has become an essential reference for researchers and engineers alike, accumulating over 370 citations across its editions. Taghirad's most impactful research addresses the modeling and control of fully-constrained cable-driven parallel robots, with his investigations into robust PID, adaptive robust, and singular perturbation-based control strategies earning a combined total of over 530 citations — reflecting the field's hunger for rigorous, practical solutions to cable elasticity and dynamic uncertainty. His influential 2006 survey on flexible joint robot control, with 153 citations, demonstrated his ability to synthesize decades of literature into actionable research directions. Beyond manipulation, Taghirad has extended his expertise to mobile robotics and autonomous systems, contributing work on staircase-climbing tracked robots and monocular SLAM-based quadrotor navigation. Earlier career work on harmonic drive torque sensing further underscores his versatile, systems-oriented approach. Collectively, his research has garnered over 1,300 citations, cementing his status as a leading voice in advanced robotics.

Research Focus

Key Achievements

Top Papers

1. 1
   Robust PID control of fully-constrained cable driven parallel robots

   232 citations · 2014
2. 2
   Parallel Robots

   208 citations · 2013
3. 3
   Dynamic Modeling and Control of Parallel Robots With Elastic Cables: Singular Perturbation Approach

   172 citations · 2014
4. 4
   Parallel robots: mechanics and control

   163 citations · 2013
5. 5
   A SURVEY ON THE CONTROL OF FLEXIBLE JOINT ROBOTS

   153 citations · 2006
6. 6
   Adaptive robust control of fully-constrained cable driven parallel robots

   129 citations · 2014
7. 7
   Autonomous staircase detection and stair climbing for a tracked mobile robot using fuzzy controller

   88 citations · 2009
8. 8
   DYNAMIC ANALYSIS AND CONTROL OF CABLE DRIVEN ROBOTS WITH ELASTIC CABLES

   78 citations · 2011
9. 9
   Autonomous flight and obstacle avoidance of a quadrotor by monocular SLAM

   56 citations · 2016
10. 10
    Torque ripple and misalignment torque compensation for the built-in torque sensor of harmonic drive systems

    51 citations · 1998

Key Collaborators

Contact & Links