Rambod Rastegari

About

Rambod Rastegari is a robotics and control systems researcher whose work has made significant contributions to the field of space robotics, particularly in the coordination and control of free-flying robotic systems. His most influential research centers on Multiple Impedance Control (MIC), a sophisticated framework for enabling cooperative manipulation by multi-arm robots mounted on thruster-equipped spacecraft — a class of systems where dynamic coupling between robotic arms and the spacecraft base presents formidable control challenges. Rastegari's landmark 2005 paper, "Multiple Impedance Control for Space Free-Flying Robots," has garnered 94 citations, reflecting its foundational role in the field. His broader body of work systematically advances MIC through innovations including virtual linkage formulations, virtual object grasp strategies, force tracking guarantees, and disturbance rejection analysis, collectively amassing over 200 citations. These contributions address both theoretical stability and practical implementation concerns, including a non-model-based variant that reduces computational overhead. Beyond space robotics, Rastegari has explored hyper-redundant robot design, proposing a novel ball screw mechanism approach for maneuvering in inaccessible environments. His diverse yet focused research portfolio positions him as a thoughtful contributor to advanced robotic systems engineering, with enduring relevance to on-orbit servicing and autonomous space manipulation.

Research Focus

Key Achievements

Top Papers

1. 1
   Multiple Impedance Control for Space Free-Flying Robots

   94 citations · 2005
2. 2
   Multiple-arm space free-flying robots for manipulating objects with force tracking restrictions

   44 citations · 2006
3. 3
   Multiple impedance control of space free-flying robots via virtual linkages

   35 citations · 2009
4. 4
   Force tracking in multiple impedance control of space free-flyers

   17 citations · 2002
5. 5
   Disturbance rejection analysis of multiple impedance control for space free-flying robots

   13 citations · 2002
6. 6
   Multiple Impedance Control of Space Free-Flying Robots Using Virtual Object Grasp

   12 citations · 2006
7. 7
   Multiple Impedance control of cooperative manipulators using virtual object grasp

   7 citations · 2006
8. 8
   Design of hyper redundant robot using ball screw mechanism approach

   4 citations · 2015
9. 9
   Kinematic modeling of hyper redundant robot using ball screw mechanism approach

   3 citations · 2017
10. 10
    Non-Model-Based Multiple Impedance Control of Space Free Flying Robots

    2 citations · 2007

Key Collaborators

Contact & Links