People‎ > ‎

Mahmoud Tavakoli


This page is outdated. 

Please refer to this site.












At the Lab FROM 2005-2015

Research Interests: Mobile Robotics, Climbing robots, Inspection Robots, Pipeline inspection, Optimization, Fine manipulation with mobile arms



mahmoud (at) isr.uc.pt






 
Biography
Mahmoud Tavakoli Received his PhD in Automation and Instrumentation from University of Coimbra, Portugal in 2010, and his MSc in Mechanical Engineering from Sharif University of Technology, Iran. Currently he is a Post-Doc researcher in ISR-UC. He is leading a project for development of several mobile platforms for inspection and maintenance of piping in petrochemical plants, ship hull grooming and ship superstructure maintenance.

Research Interests
Mobile Robots, Climbing robot, Autonomous inspection of Piping in petrochemical plants, Fine manipulation with mobile arms.

Sharif-PCR




Vídeo do YouTube






A typical piping in a plant                                                  Modelling, Motion simulation, FEA, and optimization





FSR sensor on all grippers





Accelerometers on all links, for error compensation and fine manipulation.












Autonomous Mapping of 3D Structures
Multi-robot cooperation

Vision



 RGB+D (Vision & Depth)




Biological Inspiration








Current Projects:
  • Development of climbing robots with high maneuverability for inspection of pipelines and ship hull grooming (Funded byFundação para a Ciência e a Tecnologia)
  • Autonomous Mapping of 3D Structures
  • Flexirigid, an underactuated two pahse grasping mechanism

OmniClimber
An omnidirectional climbing robot




Flexirigid- Flexirigid, A novel two phase Gripper






Vídeo do YouTube





Publications

Patent

Pole climbing robot for Service works, Iranian Organizing of Scientific Researches (IROST), Nr: 14623

Book

Mahmoud Tavakoli, "A systematic design approach for development of a climbing robot for inspection of piping in oil and gas industry", LAP LAMBERT Academic Publishing, ISBN-10: 3846535745


Journal Papers



M.Tavakoli, Carlos Viegas, Lino Marques, J. Norberto Pires , Anibal T. de Almeida,OmniClimbers:Omnidirectional 
magnetic wheeled climbing robots for inspection of ferromagnetic structures,Journal of Robotics and Autonomous, 0921-8890, 2013 PDF

Mahmoud Tavakoli, Gonçalo Cabrita, Ricardo Faria, Lino Marques and Aníbal T. de Almeida. "Cooperative multi-agent mapping of 3D structures for pipeline inspection applications", International Journal of Robotics Research, 201231 (12), 1489-1503,  impact factor is 4.095 PDF

Mahmoud Tavakoli, Lino Marques and Aníbal T. de Almeida. “A low-cost approach for self-calibration of climbing robots”. Robotica, 2011 29 (01), 23-34, 2011 PDF

Mahmoud Tavakoli, Lino Marques, Ani'bal T. de Almeida, “3DCLIMBER: Climbing and manipulation over 3D structures”, Mechatronics 2011 21 (1), 48-62  February 2011, ISSN 0957-4158, PDF

M.Tavakoli, L. Marques, and A.T. de Almeida. Development of an Industrial Pipeline Inspection Robot. Journal of Industrial Robots 2010, Volume 37, Number 3, 2010,pp. 309-3223. PDF

M. Tavakoli, M.R. Zakerzadeh, G.R. Vossoughi, S. Bagheri,''A hybrid Pole Climbing and Manipulating Robot with Minimum DOFs for Construction and Service Applications, Journal of Industrial Robot 2005, volume 32, number 2, pp.171-17 PDF


Book Chapters
M.Tavakoli, Ali Marjovi, Lino Marques, Anibal T. de Almeida, `` A Step Toward Autonomous Pole Climbing Robots '' Advances in mobile robotics",(pp 1114-1121), Pub. date: Aug 2008, eISBN: 9789812835772 PDF

M.Tavakoli, Lino Marques, Anibal T. de Almeida, "Propose of a benchmark for pole climbing robots",
Springer Tracts in Advanced Robotics, 2008, Volume 44/2008, 215-222, DOI: 10.1007/978-3-540-78317-6_22 PDF


Conference Papers

M.Tavakoli, Lino Marques, Anibal T. de Almeida : “Flexirigid, a novel two phase gripper”, IROS 2013,IEEE/RSJ International Conference
on Intelligent RObots and Systems, Japan, 2013

M.Tavakoli, Lino Marques, Anibal T. de Almeida, "OmniClimber: An omnidirectional light weight climbing robot with flexibility
to adapt to non-flat surfaces", IROS 2012,IEEE/RSJ International Conference on Intelligent RObots and Systems, Po
rtugal PDF

M.Tavakoli, Lino Marques, Ricardo Faria, Anibal T. de Almeida, ``Autonomous  mapping  for  inspection  of  3D  structures'', IROS 2011, IEEE/RSJ International Conference on Intelligent RObots and Systems, Sept. 25 to 30, 2009 at San Francisco, USA PDF

M.Tavakoli, L. Marques, and Fabio Bonsignorio, Biomimetic inspiration in climbing robots, CLAWAR2010, the 13th International Conference on Climbing and Walking Robots, Japan, 31 August- 3 September 2010 PDF
M.Tavakoli, Lino Marques, Anibal T. de Almeida, ``Self Calibration of Step-by-Step Based Climbing Robots'', IROS 2009, IEEE/RSJ International Conference on Intelligent RObots and Systems, October 11 to 15, 2009 at St. Louis, USA PDF

M.Tavakoli, Lino Marques, Anibal T. de Almeida, ``A comparison study on pneumatics muscles and electrical motors using the 3DCLIMBER as a case study'' CLAWAR 2008, 8-10 September, Coimbra, Portugal PDF

M.Tavakoli, Ali Marjovi, Lino Marques, Anibal T. de Almeida, `` A Step Toward Autonomous Pole Climbing Robots '' CLAWAR 2008, 8-10 September, Coimbra, Portugal PDF

M.Tavakoli, Lino Marques, Anibal T. de Almeida, ``3DCLIMBER: A climbing robot for inspection of 3D human made structures'' IROS 2008, EEE/RSJ International Conference on Intelligent RObots and Systems, 22-26 September, Nice, France PDF

M.Tavakoli, Lino Marques, Anibal T. de Almeida, ``A comparison study on pneumatics muscles and electrical motors'', IEEE International Conference on Robotics and Biomimetics, December 14 -17, 2008, Bangkok, Thailand PDF

M.Tavakoli, Lino Marques, Anibal T. de Almeida, ``Path Planning for the "3DCLIMBER"'' CLAWAR 2007, 16-18 May 2007, Singapore PDF

M.Tavakoli, Lino Marques, Anibal T. de Almeida ``Pole Climbing and Manipulating Robots: Evaluation of Advantageous and Disadvantageous of Different Design Categories'', International Symposium on Robotics, 15 /18 may 2006, Munich, Germany PDF

M.Tavakoli, Lino Marques, Anibal T. de Almeida, ``Climbing Robots for Human-Made 3D structures'' CLAWAR 2006, 12-14 September,
Belgium PDF

M.Tavakoli, Lino Marques, Anibal T. de Almeida, ``Design and Simulation of a Novel Pole Climbing and Manipulating Robot'' CLAWAR 2006
12-14 September, Belgium PDF

M.R. Zakerzadeh, M. Tavakoli, H. Pendar, ``Kinematics Analysis of a New Spatial 3-DOF Parallel Mechanism'', 13th Annual (International) Mechanical Engineering Conference, May 2005, Isfahan University of Technology, Isfahan, Iran.

M.R. Zakerzadeh, G.R Vossoughi, S. Bagheri, M. Tavakoli, ``Kinematic Analysis of a New 4-DOF Hybrid Pole Climbing Manipulator'', 12th IEEE Mediterranean conference on control and automation MED'04, 6-9 June 2004, Turkey.

 G.R Vossoughi, S. Bagheri, M. Tavakoli, M.R. Zakerzadeh, M. Houseinzadeh, ``Design, Modeling and Kinematics Analysis of a Novel Serial/Parallel Pole Climbing and Manipulating Robot'', 7th Biennial ASME Engineering Systems Design and Analysis, Manchester, UK July 19- 22, 2004 PDF

M. Tavakoli, M.R. Zakerzadeh, G.R. Vossoughi, S. Bagheri, ``Design, Modeling and Prototyping of a Serial/Parallel Pole Climbing and Manipulating Robot with Minimum DOFs for Construction Works'', 7th international on climbing and walking robots and the support technology for mobile machines, Madrid, September 2004 PDF

M.R. Zakerzadeh, M. Tavakoli, G.R. Vossoughi, S. Bagheri, ``Inverse Kinematic/Dynamic Analysis of a New 4-DOF Hybrid (Serial-Parallel) Pole Climbing Robot Manipulator'', 7th international on climbing and walking robots and the support technology for mobile machines, Madrid, September 2004 PDF

M. Tavakoli, M.R. Zakerzadeh, G.R. Vossoughi, S. Bagheri, H.Salarieh, ``A Novel Serial/Parallel Pole Climbing/Manipulating Robot: Design, Kinematic Analysis and Workspace Optimization with Genetic Algorithm'', 21st International Symposium on Automation and Robotics in Construction, 21 to 25 September 2004, Jeju island, Korea PDF