Dr. Mohammadi is an Assistant Professor in the
Department of Electrical and Computer
Engineering (ECE) at the University of Michigan - Dearborn. He
received the Ph.D. degree in Electrical and Computer Engineering from
of Toronto, Canada in 2016. During his Ph.D. studies, he collaborated with
the Norwegian Centre for Autonomous Marine Operations and Systems (a Centre of Excellence
for research in Norway) on locomotion control of ground and swimming snake robots. In 2011,
he received the Masters degree from the University of Alberta, Canada where he was with the
Telerobotic & Biorobotic Systems Laboratory. He received the Bachelors degree in Electrical
Engineering from Sharif University of Technology, Iran in 2009. He joined the
Locomotor Control Systems Laboratory at the University of Texas, Dallas, as a Postdoctoral Research Associate in
November 2016, where he was using neuromechanical principles in the context of feedback control
theory to design wearable robot control systems. His research interests include bioinspired robotics,
wearable robots, nonlinear control, hybrid systems, and mechatronics.
My academic genealogy can be traced back to
Vincenzo Brunacci who graduated from
the University of Pisa in 1788 and
was a professor of infinitesimal calculus (Matematica sublime) at the University of Pavia. His advisors were
Pietro Paoli and
Through the postdoctoral supervisor of Kevin Passino (my academic
grandfather!), i.e., Anthony Michel,
I am also connected to Friedrich
Leibniz, the father of Gottfried Wilhelm Leibniz, one of the founders of calculus.
number is currently 5. I
have coauthored with Robert D. Gregg, IV. The chain
connecting me to Erdős is
as follows: Robert D. Gregg, IV -> Shankar Sastry -> Stephen P. Boyd ->
Persi W. Diaconis -> Paul Erdős.
University of Michigan- Dearborn
ECE 543: Kinematics, Dynamics, and Control of Robots (incoming) – Winter 2020
Description: This course provides a systematic study of robotics, covering various
topics in kinematics, dynamics, control, and
planning for robot systems. The purpose of this course is to let students get familiar with
the traditional mathematical description of a robotic system and understand fundamental concepts
and principles in robotics, to enable students to derive equations of motion for robotic systems,
analyze their kinematic and dynamic properties, and design control strategies, and also to have students
gain knowledge and experience about commonly-used robotic systems and mechanisms. Starting with rigid
body motion, we will learn a systematic way to describe a robot system that consists of multiple links
connected through different kinds of joints. Kinematics will include forward and inverse kinematics and
their analytical and constraints. Control will include the classic PID control, position and force control,
and trajectory tracking. This course will also discuss some specific topics in robotics research, including
robot manipulators, mobile and walking robots, and robot hands, in which we will see how the above principles
and methods are being used together. Three lecture hours per week.
ECE 545: Introduction to Robotic Systems – Fall 2020
Description: This course
introduces basic components of robotic systems, selection of coordinate frames, homogeneous
transformations, solutions to kinematics of manipulators, obstacle avoidance and motion
planning. Sensing technologies including basic computer vision and
Kalman Filters will be covered. Three lecture hours per week.
ECE 4641: Robotics II – Fall 2019--20
Description: This is the second of a two-course sequence introducing foundational theory
and applications of robotics engineering. The topics of this course include embedded computing,
locomotion, localization, dead reckoning, inertial sensors and perception, navigation, multi-robotics
systems, and human-robot interaction, and complex response processes. Three lecture hours and one three
hour laboratory per week.
ECE 347: Applied Dynamics – Fall 2018--20, Winter 2019--20
Description: Introduction to rigid, multi-body dynamics tailored to the analysis and
design of linkage-based robotic systems. Three dimensional kinematics, Eulerian angles, general m
otion of rigid bodies subjected to various forcing functions. Matrix methods, numerial and
software-based problem solving. Project required. Four lecture hours per week.
University of Texas at Dallas (as a guest lecturer)
BMEN 4310: Feedback Systems in Biomedical Engineering – Winter 2018 ,
Description: Feedback Systems in Biomedical Engineering (3 semester credit hours) Notions
of inputs, outputs, and states. Linearity versus nonlinearity. Deterministic versus stochastic systems.
Top down versus bottom up modeling. Sensitivity and reduction of sensitivity via feedback. Introduction
to stability. Feedback for stabilization and disturbance rejection. Numerical simulation and controller
design via computational approaches.
MECH 6324: Robot Control – Fall 2016
Description: Robot Control (3 semester credit hours) Dynamics of robots; methods of
control; force control; robust and adaptive control; feedback linearization; Lyapunov design methods;
passivity and network control; control of multiple and redundant robots; teleoperation.
FCN 186, University of Michigan- Dearborn,
19000 Hubbard Drive, Dearborn, MI 48126
amohmmad (at) umich (dot) edu
The PHANToM devices (Geomagic® Inc.,
SC, USA) provide the users in industry and academia with an
opportunity for research and education in virtual reality, haptics,
robot motion control and teleoperation. Traditionally, one has
to develop C/C++ codes using the OpenHaptics
kit (SDK) in order to use these devices. The PHANSIM
Toolkit is an academic/non-commercial Simulink toolkit
for real-time motion control and teleoperation of the PHANToM
haptic devices. [Download]