Maziar Ahmad Sharbafi

Maziar Ahmad Sharbafi

Maziar Ahmad Sharbafi
Locomotion Laboratory
Institute of Sport Science
Technical University of Darmstadt
Alexanderstr. 10
D-64289 Darmstadt (Germany)

phone: +49 (0)6151 - 1624133
fax: +49 (0)6151 - 1672119


  • Control of bipedal robot motion based on conceptual and analytic approaches
  • Nonlinear Control, Hybrid systems

Selected publications

Journals papers

  • Sharbafi, M. A., Barazesh, H., Iranikhah, M., & Seyfarth, A, Leg force control through biarticular muscles for human walking assistance. Frontiers in neurorobotics, 12, 2018, Open Access
  • Yazdi-Mirmokhalesouni, S. D., Sharbafi, M. A., Yazdanpanah, M. J., & Nili-Ahmadabadi, M, Modeling, control and analysis of a curved feet compliant biped with HZD approach. Nonlinear Dynamics, 91(1), 459-473, 2018.Springer

* Sharbafi, M. A., Seyfarth, A., Hosoda, K., & Sugar, T. G. . In Bioinspired Legged Locomotion: Models, Concepts, Control and Applications (pp. 640-657), DOI: 10.1016/B978-0-12-803766-9.00012-9 Elsevier.

  • Sharbafi, M.A., Rode, C., Kurowski, S., Scholz, D., Möckel, R., Radkhah, K., Zhao, G., Rashty, A.M., von Stryk, O. and Seyfarth, A., A new biarticular actuator design facilitates control of leg function in BioBiped3. Bioinspiration & Biomimetics, 11(4), p.046003, 2016. DOI: 10.1088/1748-3190/11/4/046003
  • Sharbafi, M. A. and Maufroy, C. and Seyfarth, A. Yazdanpanah, M. J. and Nili Ahmadabadi, M. Robust hopping based on Virtual Pendulum Posture Control. Bioinspiration & Biomimetics, 8(3) 036002 (16pp), 2013. DOI: 10.1088/1748-3182/8/3/036002
  • Sharbafi, M. A. and Taleghani, S. and Esmaeeli, E. ICE Matching, Robust and Fast Featured-based Scan Matching for an Online Operation. Journal of Experimental & Theoretical Artificial Intelligence26(4) (21pp),2014.DOI:10.1080/0952813X.2014.924576
  • Sharbafi, M. A. and Lucas, C. and Daneshvar, R. Motion Control of Omni-Directional Three-Wheel Robots by Brain Emotional Learning Based Intelligent Controller. IEEE Transaction on Systems, Man and Cybernetics; Part C Application and Reviews, 40(6), pp. 630-638, 2010. DOI: 10.1109/TSMCC.2010.2049104
  • Sharbafi, M. A. and Yazdanpanah, M. J. “IDFC, A new approach to control bifurcation in TCP/RED. Journal of Network and Computer Applications, 34(6) (9pp), 2011. DOI:
  • Sharbafi, M. A. and Mohammadinejad, A. and Sedigh, A. K. and Roshanian, J. Stability Proof of Gain-Scheduling Controller for Skid-to-Turn Missile Using Kharitonov Theorem. Journal of Aerospace Society and Technology, 6(2), 2009.
  • Aghazade, O. and Sharbafi, M. A. and Haghighat, A. T. Implementing Parametric Reinforcement Learning in Robocup Rescue Simulation. RoboCup 2007: Robot Soccer World Cup XI, Springer Berlin / Heidelberg, 5001 (8pp), 2008. DOI: 10.1007/978-3-540-68847-1_42
  • Sharbafi, M. A. and Ghiasvand, O. A. and Ramandi, S. A. Hierarchical Hybrid Fuzzy Decision Making in Multi Agent Time Critical Environment. International Journal of Innovation, Management and Technology, Vol. 5, No. 1, 5(1)(5pp), 2014. DOI: 10.7763/IJIMT.2014.V5.486

Conference papers

  • Mohammadinejad, A. and Sharbafi, M. A. and Rode, C. and Seyfarth, A. Role of Bi-articular muscles during swing phase of walking. Poster. Dynamic Walking, Pittsburg, USA, 2013.
  • Sharbafi, M. A. and Nili Ahmadabadi, M. and Yazdanpanah, M. J. and Seyfarth, A. Novel leg adjustment approach for hopping and running. Poster. Dynamic Walking, Pittsburg, USA, 2013.
  • Sharbafi, M. A. and Seyfarth, A. Human leg adjustment in perturbed hopping. 6th International Symposium on Adaptive Motion of Animals and Machines (AMAM2013) Darmstadt, Germany, 2013.

BioBiped Project (2009 - 2014)

biologically inspired robots with human-like musculoskeletal leg structures

BBp3 The vision of humanoid robots which mimic abilities of humans has inspired researchers for decades. Yet transferring human abilities into a robotic counterpart has proven to be highly challenging in most cases. The recently launched BioBiped project aims at realizing human-like three-dimensional running, walking and standing and herewith allowing the free selection of speed and gait. For achieving this goal, the SIM Group of TU Darmstadt and the Locomotion Laboratory of TU Darmstadt cooperate in this project.

Integration of biomechanics research in the concept of the development of versatile, robust and energy-efficient bipedal robots may represent an essential tool to get a step closer to robots with human-like locomotion capabilities.

In 2010, BioBiped1 was presented as the first of a planned series of musculoskeletal robotics platforms being developed for the purpose of investigating and evaluating hypotheses and results from biomechanics of human locomotion in robotics and their transfer to new robotic platforms.

Alternate hopping on moving treadmill

BioBiped 3 robot was designed and manufactured in 2014-2015. In this robot active mechanisms (SEA) were developed for the biarticular thigh and shank muscles. Their adjustment results in better synchronization of different limbs, reducing energy consumption using the system natural dynamics and more importantly, helps benefit from separation of axial and rotational direction of leg force to facilitate locomotion control. A simple experiment is presented in the following video.

Ankle biarticular muscle effects on restoring energy in BioBiped 3

Involved People: Maziar Sharbafi, Rico Möckel, Christian Rode

Previous People: Christophe Maufroy, Moritz Maus,