Thesis

Passivity-Based Force/Motion Planning and Control for Tactile Manipulation

Received the Georges Giralt 2025 for Europe’s best robotics thesis.

About

I’m interested in designing control and learning methods for a broad range of manipulation tasks, particularly those involving physical interaction with the environment—be it objects, humans, or other robots. I am the recipient of the 2025 Georges Giralt Award for the most outstanding PhD in robotics in Europe. My invention in adaptive robot-assisted rehabilitation earned the 2021 TechTransfer Award (1st place) as Europe’s most impactful research-to-industry achievement in robotics.

Contact

• LinkedIn
• ORCID

Selected Publications

• Erfan Shahriari, Johannes Lachner, Sami Haddadin, Neville Hogan, Minimally-Back-Drivable Robots for Rehabilitation: Path-Adherent Permissiveness Control via Trajectory Adaptation, 2025. [Project Page]
• Erfan Shahriari, Petr Svarný, Seyed Ali Baradaran Birjandi, Matej Hoffmann, Sami Haddadin, Path-Constrained Haptic Motion Guidance via Adaptive Phase-Based Admittance Control, 2025. [Project Page]
• Sami Haddadin, Erfan Shahriari, Unified force-impedance control, 2024. [Project Page]
• Erfan Shahriari, Kim Kristin Peper, Matej Hoffmann, Sami Haddadin, Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach, 2024. [Project Page]
• Erfan Shahriari, Seyed Ali Baradaran Birjandi, Sami Haddadin, Passivity-Based Adaptive Force-Impedance Control for Modular Multi-Manual Object Manipulation, 2022. [Project Page]
• Xiao Chen, Lars Johannsmeier, Hamid Sadeghian, Erfan Shahriari, Martin Danneberg, Anselm Nicklas, Fan Wu, Gerhard P. Fettweis, Sami Haddadin, On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G, 2022. [Project Page]
• Erfan Shahriari, Lars Johannsmeier, Elisabeth Rose Jensen, Sami Haddadin, Power Flow Regulation, Adaptation, and Learning for Intrinsically Robust Virtual Energy Tanks, 2020. [Project Page]
• Dinmukhamed Zardykhan, Petr Svarný, Matej Hoffmann, Erfan Shahriari, Sami Haddadin, Collision Preventing Phase-Progress Control for Velocity Adaptation in Human-Robot Collaboration, 2019. [Project Page]
• Erfan Shahriari, Dinmukhamed Zardykhan, Alexander Koenig, Elisabeth Rose Jensen, Sami Haddadin, Energy-based Adaptive Control and Learning for Patient-Aware Rehabilitation, 2019. [Project Page]
• Erfan Shahriari, Lars Johannsmeier, Sami Haddadin, Valve-based Virtual Energy Tanks: A Framework to Simultaneously Passify Controls and Embed Control Objectives, 2018. [Project Page]
• Aljaz Kramberger, Erfan Shahriari, Andrej Gams, Bojan Nemec, Ales Ude, Sami Haddadin, Passivity Based Iterative Learning of Admittance-Coupled Dynamic Movement Primitives for Interaction with Changing Environments, 2018. [Project Page]
• Erfan Shahriari, Aljaz Kramberger, Andrej Gams, Ales Ude, Sami Haddadin, Adapting to contacts: Energy tanks and task energy for passivity-based dynamic movement primitives, 2017. [Project Page]
• Alexander Toedtheide, Erfan Shahriari, Sami Haddadin, Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint, 2017. [Project Page]