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Alireza Ramezani

24 accepted papers

2025

Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing

Chenghao Wang, Kaushik Venkatesh Krishnamurthy, Shreyansh Pitroda, Adarsh Salagame, Ioannis Mandralis, Eric Sihite +2
IROS 2025

Multi-modal ground-aerial robots have been extensively studied, with a significant challenge lying in the integration of conflicting requirements across different modes of operation. The Husky robot family, developed at North-eastern University, and specifically the Husky v.2 discussed in this study

Cited by 0Source ↗Scholar ↗
2025

Estimation of Aerodynamics Forces in Dynamic Morphing Wing Flight

Bibek Gupta, Mintae Kim, Albert Park, Eric Sihite, Koushil Sreenath, Alireza Ramezani
IROS 2025

Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force estimation on Aerobat, a bio-inspired flapping-wing platform de

Cited by 3Source ↗Scholar ↗
2025

Learning Physics Informed Neural ODEs with Partial Measurements

Paul Ghanem, Ahmet Demirkaya, Tales Imbiriba, Alireza Ramezani, Zachary Danziger, Deniz Erdogmus
AAAI 2025technical

Learning dynamics governing physical and spatiotemporal processes is a challenging problem, especially in scenarios where states are partially measured. In this work, we tackle the problem of learning dynamics governing these systems when parts of the system's states are not measured, specifically w…

Cited by 1Source ↗PDF ↗Scholar ↗
2025

Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization

Adarsh Salagame, Eric Sihite, Alireza Ramezani
IROS 2025

Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial body of control research has focused on emulating snake locomotion and replicating its distinctive movement patterns us

Cited by 0Source ↗Scholar ↗
2025

Reduced-Order Model-Based Gait Generation for Snake Robot Locomotion Using NMPC

Adarsh Salagame, Eric Sihite, Milad Ramezani, Alireza Ramezani
ICRA 2025

This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach simplifies the planning process, enabling the optimizer to autonomously generate gaits while constraining the robot's fo

Cited by 0Source ↗Scholar ↗
2025

Self-Supervised Cost of Transport Estimation for Multimodal Path Planning

Vincent Gherold, Ioannis Mandralis, Eric Sihite, Adarsh Salagame, Alireza Ramezani, Morteza Gharib
RA-L 2025

Autonomous robots operating in real environments are often faced with decisions on how best to navigate their surroundings. In this work, we address a particular instance of this problem: how can a robot autonomously decide on the energetically optimal path to follow given a high-level objective and

Cited by 3Source ↗code ↗Scholar ↗
2025

Thruster-Enhanced Locomotion: A Decoupled Model Predictive Control with Learned Contact Residuals

Chenghao Wang, Alireza Ramezani
IROS 2025

Husky Carbon, a robot developed by Northeastern University, serves as a research platform to explore unification of posture manipulation and thrust vectoring. Unlike conventional quadrupeds, its joint actuators and thrusters enable enhanced control authority, facilitating thruster-assisted narrow-pa

Cited by 0Source ↗Scholar ↗
2025

Vision-Guided Loco-Manipulation with a Snake Robot

Adarsh Salagame, Sasank Potluri, Keshav Bharadwaj Vaidyanathan, Kruthika Gangaraju, Eric Sihite, Milad Ramezani +1
IROS 2025

This paper presents the development and integration of a vision-guided loco-manipulation pipeline for Northeastern University’s snake robot, COBRA. The system leverages a YOLOv8-based object detection model and depth data from an onboard stereo camera to estimate the 6-DOF pose of target objects in

Cited by 0Source ↗Scholar ↗
2024

Dynamic modeling of wing-assisted inclined running with a morphing multi-modal robot

Eric Sihite, Alireza Ramezani, Morteza Gharib
ICRA 2024poster

Robot designs can take many inspirations from nature, where there are many examples of highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by using multi-functional appendages. For example, Chukar and Hoatzin birds can repurpose their wings for quadrupedal walking…

Cited by 14Source ↗Scholar ↗
2024

Heading Control for Obstacle Avoidance using Dynamic Posture Manipulation during Tumbling Locomotion

Adarsh Salagame, Kruthika Gangaraju, Eric Sihite, Gunar Schirner, Alireza Ramezani
IROS 2024

Passive tumbling structures are energy efficient, but often sacrifice control authority due to their under actuated nature. Unlike many passive tumbling robots, Northeastern University’s COBRA is a snake robot with eleven articulated joints that transforms into a wheel-like structure with a high deg

Cited by 3Source ↗Scholar ↗
2024

Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot

Adarsh Salagame, Kruthika Gangaraju, Harin Kumar Nallaguntla, Eric Sihite, Gunar Schirner, Alireza Ramezani
IROS 2024poster

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through locomotion, referred to as loco-manipulation. The following work pres…

Cited by 2Source ↗Scholar ↗
2024

Snake Robot with Tactile Perception Navigates on Large-scale Challenging Terrain

Shuo Jiang, Adarsh Salagame, Alireza Ramezani, Lawson L. S. Wong
ICRA 2024poster

Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study, we proposed a locomotion control framework for snake robots that integrates tactile perception to augment their adaptabili…

Cited by 7Source ↗Scholar ↗
2023

Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot

Eric Sihite, Filip Slezak, Ioannis Mandralis, Adarsh Salagame, Milad Ramezani, Arash Kalantari +2
IROS 2023poster

Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and walk. This capability is extremely beneficial for expanding the animal's habitat range and they can choose the most energy…

Cited by 13Source ↗Scholar ↗
2023

Hovering Control of Flapping Wings in Tandem with Multi-Rotors

Aniket Dhole, Bibek Gupta, Adarsh Salagame, Xuejian Niu, Yizhe Xu, Kaushik Venkatesh +4
IROS 2023poster

This work briefly covers our efforts to stabilize the flight dynamics of Northeatern's tailless bat-inspired micro aerial vehicle, Aerobat. Flapping robots are not new. A plethora of examples is mainly dominated by insect-style design paradigms that are passively stable. However, Aerobat, in additio…

Cited by 4Source ↗Scholar ↗
2023

Loitering and Trajectory Tracking of Suspended Payloads in Cable-Driven Balloons Using UGVs

Julius Wanner, Eric Sihite, Alireza Ramezani, Morteza Gharib
ICRA 2023poster

Investigations of unmanned aerial vehicles (UAV s) for planetary exploration and payload manipulation have become a strong focus of research within space robotics. Among possible solutions, balloon-based systems possess merits that make them extremely attractive, such as their simple operation mecha…

Cited by 1Source ↗Scholar ↗
2022

Unsteady aerodynamic modeling of Aerobat using lifting line theory and Wagner's function

Eric Sihite, Paul Ghanem, Adarsh Salagame, Alireza Ramezani
IROS 2022poster

Flying animals possess highly complex physical characteristics and are capable of performing agile maneuvers using their wings. The flapping wings generate complex wake structures that influence the aerodynamic forces, which can be difficult to model. While it is possible to model these forces using…

Cited by 27Source ↗Scholar ↗
2021

Generative Design of NU’s Husky Carbon, A Morpho-Functional, Legged Robot

Alireza Ramezani, Pravin Dangol, Eric Sihite, Andrew Lessieur, Peter Kelly
ICRA 2021poster

We report the design of a morpho-functional robot called Husky Carbon. Our goal is to integrate two forms of mobility, aerial and quadrupedal legged locomotion, within a single platform. There are prohibitive design restrictions such as tight power budget and payload, which can particularly become i…

Cited by 30Source ↗Scholar ↗
2020

Towards biomimicry of a bat-style perching maneuver on structures: the manipulation of inertial dynamics

Alireza Ramezani
ICRA 2020poster

The flight characteristics of bats remarkably have been overlooked in aerial drone designs. Unlike other animals, bats leverage the manipulation of inertial dynamics to exhibit aerial flip turns when they perch. Inspired by this unique maneuver, this work develops and uses a tiny robot called Harpoo…

Cited by 18Source ↗Scholar ↗
2017

From Rousettus aegyptiacus (bat) landing to robotic landing: Regulation of CG-CP distance using a nonlinear closed-loop feedback

Usman A. Syed, Alireza Ramezani, Soon-Jo Chung, Seth Hutchinson
ICRA 2017poster

Bats are unique in that they can achieve unrivaled agile maneuvers due to their functionally versatile wing conformations. Among these maneuvers, roosting (landing) has captured attentions because bats perform this acrobatic maneuver with a great composure. This work attempts to reconstruct bat land…

Cited by 15Source ↗Scholar ↗
2016

Synergistic Design of a Bio-Inspired Micro Aerial Vehicle with Articulated Wings

Jonathan Hoff, Alireza Ramezani, Soon-Jo Chung, Seth Hutchinson
RSS 2016poster

The sophisticated and intricate connection between bat morphology and flight capabilities makes it challenging to employ conventional flying robots to replicate the aerial locomotion of these creatures. In recent work, a bat inspired soft Micro Aerial Vehicle (MAV) called Bat Bot (B2) with five Degr…

Cited by 40Source ↗PDF ↗Scholar ↗
2015

Lagrangian modeling and flight control of articulated-winged bat robot

Alireza Ramezani, Xichen Shi, Soon-Jo Chung, Seth Hutchinson
IROS 2015poster

This paper presents a systematic flight controller design based on the mathematics of parametrized manifolds and calculus of variations for the Bat Bot (B2), which possesses many articulated wings. Wing kinematics and morphological properties are crucial in the powered flight of flying vertebrates.…

Cited by 47Source ↗Scholar ↗