Hi, I'm Shayan Sepahvand, a PhD candidate in Mechanical Engineering (Robotics) at Toronto Metropolitan University (TMU), working in the Robotics, Mechatronics and Automation Laboratory (RMAL).
My research focuses on aerial manipulation, continuum robotics, visual servoing, force control, and autonomous robotic systems. I am particularly interested in developing perception and control methods for tendon-driven aerial continuum manipulators, including vision-based manipulation, hybrid vision/force control, and learning-based robotic control.
- π€ Continuum Robotics
- π Aerial Manipulation
- ποΈ Visual Servoing
- π¦Ύ Hybrid Vision/Force Control
- π§ Deep Learning for Robotics
- π Robot Kinematics and Dynamics
- π°οΈ Autonomous Robotic Systems
- π§ Motion Planning and Control
- Programming: C++, Python, MATLAB
- Robotics: ROS / ROS 2, MAVROS, RViz
- Computer Vision: OpenCV, Visual Servoing, Feature Matching
- Simulation & Modeling: MATLAB/Simulink, Cosserat-Rod Modeling
- Control: Sliding-Mode Control, Fixed-Time Control, Adaptive Control, IBVS
- Hardware: UAVs, Continuum Manipulators, Force/Torque Sensors, RGB-D Cameras
I enjoy working on challenging robotics projects involving aerial manipulation, continuum robots, perception, and control.
| Robust Vision-based Control of a Quadrotor | IK Estimation of Continuum Robot |
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| Vision-based Landing Framework | Deep Visual Servoing of Quadrotors |
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My current research investigates control and perception methods for tendon-driven aerial continuum manipulators (TD-ACMs), including:
- Image-Based Visual Servoing (IBVS)
- Hybrid visual and force control
- Robust and fixed-time control
- Singularity-aware visual feature selection
- Force and wrench estimation
- Dual-arm aerial manipulation
- Valve-turning and contact-rich manipulation
- Continuum robot modeling using Cosserat-rod formulations
My research has been published and presented in robotics, control, computer vision, and autonomous-systems venues.
You can find more information about my publications and research here:
- π Google Scholar
- π¬ ResearchGate: [Add your ResearchGate link]
- π ORCID
- πΌ LinkedIn
- π Personal Website: [Add your website link]
I am always interested in discussions and collaborations related to:
Robotics Β· Aerial Manipulation Β· Continuum Robots Β· Visual Servoing Β· Robot Control Β· Autonomous Systems