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People ■ Houman Dallali
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Houman Dallali

ADVR / Humanoids & Human Centred Mechatronics

Post Doc
Phone +39010 71781821
Mobile Phone +39 3276633020
Fax +39010 71781232

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Bio

Houman Dallali received the B.Sc. degree in electrical and control engineering from Iran University of Science and Technology (IUST) in 2006, the M.Sc. degree in control systems engineering with distinction from the University of Sheffield, UK, in 2007 and Ph.D. degree in modelling and control of humanoid robots from the University of Manchester, UK, in 2012. He is currently a postdoctoral research associate at the advanced robotics department, Istituto Italiano di Tecnologia (IIT), Genova, Italy.

His current research focuses on development of simulation tools for compliant robots, design and implementation of various motion control software on a humanoid robot called the COMAN.
Houman Dallali received the B.Sc. degree in electrical and control engineering from Iran University of Science and Technology (IUST) in 2006, the M.Sc. degree in control systems engineering with distinction from the University of Sheffield, UK, in 2007 and Ph.D. degree in modelling and control of humanoid robots from the University of Manchester, UK, in 2012. He is currently a postdoctoral research associate at the advanced robotics department, Istituto Italiano di Tecnologia (IIT), Genova, Italy.

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Projects

 

 

Selected Publications

J. Lee, H. Dallali, N. Tsagarakis and D. Caldwell, Robust and Model-Free Link Position Tracking Control for Humanoid COMAN with Multiple Compliant Joints, To Appear in IEEE Int. Conf. on Humanoid Robots, Oct. 15-17, 2013, Atlanta, Georgia, USA.

H. Dallali, M. Mosadeghzad, G. Medrano-Cerda, N. Tsagarakis, D. Caldwell, A Dynamic Simulator for the Compliant Humanoid Robot, COMAN, To Appear in ICRA Wokrshop on Developments of Simulation Tools for Robotics & Biomechanics, Karlsruhe, Germany, May 10, 2013.
 
H. Dallali, M. Mosadeghzad, G. Medrano-Cerda, N. Docquier, P. Kormushev, N. Tsagarakis, Z. Li, D. Caldwell, Development of a Dynamic Simulator for a Compliant Humanoid Robot Based on a Symbolic Multibody Approach, International Conference on Mechatronics, Vicenza, Italy, February 27 - March 1, 2013.
 
H. Dallali, P. Kormushev, Z. Li, D. Caldwell, On Global Optimization of Walking Gaits for the Compliant Humanoid Robot, COMAN Using Reinforcement Learning, Journal of Cybernetics and Information Technologies, vol. 12, no. 3, pp. 39-52, 2012.

G. Medrano-Cerda, H. Dallali, M. Brown, Control of a Compliant Humanoid Robot in Double Support Phase: A Geometric Approach, International Journal of Humanoid Robotics, vol. 09, no. 01, pp. 1250004-1/29, 2012.

P. Kowalczyk, P. Glendinning, M. Brown, G. Medrano-Cerda, H. Dallali and J. Shapiro, Modelling Human Balance Using Switched Systems with Linear Feedback Control. J. R. Soc. Interface, vol. 9, pp. 234-245, 2011.

H. Dallali, G.A. Medrano-Cerda and M. Brown, N. G. Tsagarakis, D. Caldwell, Decentralized LQR Joint Servo Design for a Compliant Humanoid Robot via LMI Optimisation, in preparation.

H. Dallali, G.A. Medrano-Cerda and M. Brown, A Comparison of Multivariable and Decentralized Control Strategies for Robust Humanoid Walking, in Proc. of UK Automatic Control Conference (UKACC), Coventry, 7-10 September, 2010.

G. A. Medrano-Cerda, H. Dallali, M. Brown, N. G. Tsagarakis and D. G. Caldwell, Modelling and Simulation of the Locomotion of Humanoid Robots, in Proc. of UK Automatic Control Conference (UKACC), Coventry, 7-10 September, 2010.

H. Dallali, M. Brown and B. Vanderborght, Using the Torso to Compensate for Non-Minimum Phase Behaviour in ZMP Bipedal Walking, in Proc. of German Workshop on Robotics, Braunschweig, Germany, 9-10 June, 2009.

PhD Thesis:

H. Dallali, “Modeling and Dynamic Stabilization of a Compliant Humanoid Robot, COMAN”, School of Electrical and Electronic Engineering, The University of Manchester, UK, 2012.

MSc Thesis (Distinction):

H. Dallali, "Sliding Mode Control of Nonlinear Systems", Department of Automatic Control and Systems Engineering, The University of Sheffield, UK, 2007.

Workshops and Tutorials :
 

ICRA 2013 Workshop on Developments of Simulation Tools for Robotics & Biomechanics

J. Lee, H. Dallali, N. Tsagarakis and D. Caldwell, Robust and Model-Free Link Position Tracking Control for Humanoid COMAN with Multiple Compliant Joints, To Appear in IEEE Int. Conf. on Humanoid Robots, Oct. 15-17, 2013, Atlanta, Georgia, USA.

H. Dallali, M. Mosadeghzad, G. Medrano-Cerda, N. Tsagarakis, D. Caldwell, A Dynamic Simulator for the Compliant Humanoid Robot, COMAN, To Appear in ICRA Wokrshop on Developments of Simulation Tools for Robotics & Biomechanics, Karlsruhe, Germany, May 10, ...

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Awards

 

 

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