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Mahdy Eslamy

Mahdy Eslamy

Mahdy Eslamy
Locomotion Laboratory
Institut of Sport Science
Technical University of Darmstadt
Alexanderstr. 10, Room number 45 (Gaitlab 019)
D-64289 Darmstadt (Germany)

phone: +49 (0)6151 - 16 75666 or 75669
fax: +49 (0)6151 - 163661

About me

I studied Mechanical Engineering in IUST (Applied Design) and KNTU (Robotics and Control) both in Tehran, Iran.

  • Master Thesis: “Control and Dynamics of Suspended/non-suspended Wheeled Mobile Robotic Systems (with Manipulators) during Object Manipulation Tasks”

A brief introduction can be found here Springer Journal of Intelligent & Robotic Systems, DOI: 10.1007/s10846-010-9413-z

My current research deals with powered ankles, where I am responsible for design and defining control structures.

Currently I a working on the control and laboratory experiments with our Powered Ankle Knee Ortho-prosthesis PAKO.

Watch a video clip of laboratory experiments with PAKO here

You can find me also at the Institute for Mechatronic Systems in Mechanical Engineering IMS.


  • Robotics
  • Control
  • Mechanism Design



  • [J] Grimmer, M., Eslamy, M. and Seyfarth, A. Energetic and Peak Power Advantages of Series Elastic Actuators in an Actuated Prosthetic Leg for Walking and Running, Actuators.


  • [C] M. Eslamy, Grimmer M., Seyfarth A., Does it pay to have a damper in a powered ankle prosthesis? A Power-Energy Perspective, IEEE ICORR, pp:1-8.


  • [C] Grimmer M., Eslamy M., Gliech S., Seyfarth A., A Comparison of Parallel and Series Elastic Elements in an Actuator for Mimicking Human Ankle Joint in Walking and Running, IEEE ICRA.
  • [C] Eslamy M., Grimmer M., Seyfarth A., Effects of unidirectional parallel springs on required peak power and energy in powered prosthetic ankles: Comparison between different active actuation concepts, IEEE RoBio.


  • [J] Mahdy Eslamy, S.Ali.A Moosavian, “Dynamics Modeling of Suspended Mobile Manipulators: An Explicit Approach with Verification”, International Journal of Modeling and Simulation, ACTApress, Vol. 31, No. 2, pp. 112-119, 2011.


  • [J] Mahdy Eslamy, S.Ali.A Moosavian, “Dynamics and Cooperative Object Manipulation Control of Suspended Mobile Manipulators”, Springer Journal of Intelligent and Robotic Systems, Vol. 60, Issue 2, pp. 181-199, 2010.


  • [C] Mahdy Eslamy, S.Ali.A Moosavian, “Control of Suspended Wheeled Mobile Robots with Multiple Arms during Object Manipulation Tasks”, IEEE ICRA, 2009, pp. 3730-3735.
  • [J] Mahdy Eslamy, S.Ali.A Moosavian, “Cooperative Object Manipulation by Suspended Wheeled Mobile Manipulators“, INTERNATIONAL JOURNAL OF ROBOTICS; NOV. 2009, 1(1); pp. 56-64.


  • [C] S.Ali.A Moosavian, Mahdy Eslamy, “Object Manipulation by Multiple Arms of a Wheeled Mobile Robotic System”, IEEE International Conference on Robotics, Automation and Mechatronics (RAM), 2008, pp. 1124-1129.