About

I am a prospective PhD student with research interests in control systems and robotics. I am currently a researcher at FASTA Robotics, where I work on the design and development of a quadruped robot. I received my M.Sc. in Mechanical Engineering from Sharif University of Technology, under the supervision of Prof. Gholamreza Vossoughi, where my research focused on exoskeleton systems. Prior to that, I earned my B.Sc. in Mechanical Engineering from Sharif University of Technology, under the supervision of Prof. Saeed Behzadipour, working on human activity recognition.

I am particularly interested in robotics and control, with a focus on legged robotics, quadruped locomotion, and advanced control methods for dynamically interacting robotic systems, and I aim to pursue research that bridges theory and real-world robotic deployment.

Education

	Sharif University Of Technology Sep. 2023 - Sep 2025, M.Sc. in Mechanical Engineering (Major GPA 4/4)
	Sharif University Of Technology Sep. 2018 - Sep 2023, B.Sc. in Mechanical Engineering (Major GPA 3.98/4)

Selected Projects

Probabilistic Force Estimation and Contact Detection for Quadrupedal Robot Locomotion [ PDF ] [ Github ] Probabilistic framework for contact detection and external force estimation in quadruped locomotion using an Interacting Multiple-Model Kalman Filter with a time-varying transition probability matrix.

Developing MPC for Quadruped Locomotion Implementing an MPC Controller for Quadruped Locomotion. Developed a Model Predictive Control (MPC) controller for quadruped robot locomotion (Go2 robot) in the NVIDIA Isaac Simulator. The controller is based on the paper “Convex Model Predictive Control for Quadrupedal Locomotion” and enables stable, dynamic gait generation in simulation.

SLIP Controller For Single Leg Jumping With Energy Compensation Approach [ PDF ] Developed a controller for single-leg jumping using a variable-stiffness spring and Bézier-based trajectory planning. The method compensates for energy losses due to friction, enabling stable and repeated jumps.

PID Controller for a 1 DOF system [ PDF ] Simulation, modeling, and control of a 1-DOF propeller-driven system using MATLAB/Simscape, including data-driven thrust and PWM modeling and discrete PID control design.

Experience

	Control Engineer Sep 2025 - Present, Fasta Robotics
	Graduate Student Research Assistant Sep. 2023 - Sep. 2025, Sharif University Of Technology
	Robotics Engineer Intern July 2022 - Sep. 2022, Vive Tennis