Papers
8
Total Citations
140
H-Index
7
About
Morteza Dardel’s research bridges the frontiers of robotics and optimal control, with a primary focus on passive dynamic walking and time-optimal trajectory planning. His most influential work, “Gait cycles of passive walking biped robot model with flexible legs” (2021, 46 citations), pioneers the integration of structural flexibility into bipedal locomotion, revealing how elastic leg dynamics can enhance energy efficiency and stability. Complementing this, his 2014 study on finite difference methods for period-one gait cycles (19 citations) provides a foundational numerical framework for analyzing passive walkers, while his 2022 work on viscoelastic legs (14 citations) further refines these models. In the domain of robot manipulators, Dardel’s 2011 paper on time-optimal point-to-point motion (32 citations) introduced an iterative indirect method that simultaneously respects actuator torque and jerk limits—a critical advancement for industrial robotics. His broader contributions include near time-optimal control for redundant manipulators (2011, 7 citations) and piezoelectric energy harvesting from walking motion (2024, 7 citations), demonstrating a commitment to both theoretical rigor and practical innovation. With over 140 total citations, Dardel’s work has shaped understanding of passive dynamics and optimal control, offering students and researchers a rich toolkit for designing efficient, bio-inspired robotic systems.
Research Focus
Key Achievements
Top Papers
- 1Gait cycles of passive walking biped robot model with flexible legs46 citations · 2021
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- 4Passive walking biped robot model with flexible viscoelastic legs14 citations · 2022
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- 8An iterative method for time optimal control of dynamic systems4 citations · 2011