Dr. Khalil Alipour
- Associate Professor at University of Tehran
- Ph.D: K. N. Toosi University of Technology, Mechanical Engineering, 1998 - 2002
- M.S: K. N. Toosi University of Technology, Mechanical Engineering, 2002 - 2004
- B.S: K. N. Toosi University of Technology, Mechanical Engineering, 2005 - 2010
- Ph.D: K. N. Toosi University of Technology, Mechanical Engineering, 1998 - 2002
- M.S: K. N. Toosi University of Technology, Mechanical Engineering, 2002 - 2004
- B.S: K. N. Toosi University of Technology, Mechanical Engineering, 2005 - 2010
Khalil Alipour received his B.S., M.S. and PhD degrees all with honors in Mechanical Engineering from K. N. Toosi University of Technology in 2002, 2004 and 2010, respectively. Currently, he is an Associate Professor with the Department of Mechatronics Engineering at University of Tehran. He teaches courses in the areas of robotics, dynamics, automatic control, analysis and synthesis of mechanisms.
His research interests are in the areas of dynamics modeling, automatic control, motion/path planning of robotic systems, tip-over stability analysis of mobile robots and machine/deep learning. He has published various articles in international journals and conference proceedings.
[1] M. Zeynali, K. Alipour, B. Tarvirdizadeh, and M. Ghamari, “Non-invasive blood glucose monitoring using PPG signals with various deep learning models and implementation using TinyML,” Scientific Reports, vol. 15, no. 581, 2025.
[2] K. P. Abrisham, K. Alipour, B. Tarvirdizadeh, and M. Ghamari, “Neural network models for predicting vascular age from PPG signals: A comparative study,” IET Wireless Sensor Systems, vol. –, 2024.
[3] R. Mousavifard, K. Alipour, M. A. Najafqolian, and P. Zarafshan, “Quadrotor trajectory tracking using combined stochastic model-free position and DDPG-based attitude control,” ISA Transactions, vol. –, 2024.
[4] K. Arezoo, B. Tarvirdizadeh, K. Alipour, A. H. Hosseinabadi, and J. Arezoo, “A novel ungrounded haptic device for generation and orientation of force and torque feedbacks,” IEEE Trans. Haptics, vol. –, 2024.
[5] A. Rostami, K. Motaman, B. Tarvirdizadeh, K. Alipour, and M. Ghamari, “LSTM-based real-time stress detection using PPG signals on Raspberry Pi,” IET Wireless Sensor Systems, vol. 14, no. 6, 2024.
[6] E. Mortazavi, B. Tarvirdizadeh, K. Alipour, and M. Ghamari, “Deep learning approaches for assessing pediatric sleep apnea severity through SpO2 signals,” Scientific Reports, vol. 14, no. 1, 2024.
[7] A. H. Hosseinabadi, H. Shamshirgaran, B. Tarvirdizadeh, and K. Alipour, “Simultaneous position and force control of a SMA-actuated continuum robotic module,” J. Intell. Mater. Syst. Struct., vol. 35, no. 17, 2024.
[8] K. P. Abrisham, K. Alipour, B. Tarvirdizadeh, and M. Ghamari, “Advancing PPG-based cf-PWV estimation with an integrated CNN-BiLSTM-Attention model,” Signal Image Video Process., vol. 18, pp. 8621–8633, 2024.
[9] M. A. Najafqolian, K. Alipour, R. Mousavifard, and B. Tarvirdizadeh, “Control of aerial robots using convex QP LMPC and learning-based explicit-MPC,” IEEE Trans. Ind. Informat., vol. 20, no. 9, 2024.
[10] A. Rostami, B. Tarvirdizadeh, K. Alipour, and M. Ghamari, “Real-time stress detection from raw noisy PPG signals using LSTM model leveraging TinyML,” Arab. J. Sci. Eng., vol. –, 2024.
[11] A. Babaei, K. Arezoo, K. Alipour, and B. Tarvirdizadeh, “Dynamics modeling and path following controller of tractor-trailer-wheeled robots considering wheel slip,” ISA Transactions, vol. 148, pp. 45–63, 2024.
[12] K. Arezoo, J. Arezoo, B. Tarvirdizadeh, and K. Alipour, “Modeling and control of robotic manipulators equipped with the flexible cable-pulley based gravity compensation mechanism,” J. Vib. Control, vol. 30, no. 13, pp. 11–34, 2023.
[13] F. Nazari, A. Chaibakhsh, F. Najafi, and K. Alipour, “Design and development of a mechanical safety stop mechanism and an adaptive variable impedance controller for a soft-hand exoskeleton,” Int. J. Robotics (Theory Appl.), vol. 8, no. 1, 2023.
[14] K. Almaghout, B. Tarvirdizadeh, K. Alipour, and A. H. Hosseinabadi, “RBF neural network-based admittance PD control for knee rehabilitation robot,” Robotica, vol. 40, no. 12, 2022.
[15] N. Nfaileh, K. Alipour, B. Tarvirdizadeh, and A. H. Hosseinabadi, “Formation control of multiple wheeled mobile robots based on model predictive control,” Robotica, vol. 40, no. 9, pp. 1–36, 2022.
[16] M. Ghamari, H. Kamangir, K. Arezoo, and K. Alipour, “Evaluation and calibration of low-cost off-the-shelf particulate matter sensors using machine learning techniques,” IET Wireless Sensor Systems, vol. 12, pp. 134–148, 2022.
[17] D. Borooghani, A. H. Hosseinabadi, K. Alipour, and B. Tarvirdizadeh, “Falling analysis and examination of different novel strategies for preserving the postural stability of a user wearing ASR-EXO during stair climbing,” J. Intell. Robot. Syst., vol. 105, no. 1, 2022.
[18] K. Alipour and B. Tarvirdizadeh, “A numerical algorithm to find optimum parameters of a flexible-link manipulator arm for performing payload launching,” Eng. Comput., vol. ahead-of-print, 2021.
[19] B. Tarvirdizadeh, K. Alipour, and S. Spanogianopoulos, “Control of nonholonomic electrically-driven tractor-trailer wheeled robots based on adaptive partial linearization,” Int. J. Robotics (Theory Appl.), vol. 6, no. 1, 2021.
[20] A. Mardany, S. Ebrahimi, and K. Alipour, “6AP wheel: A new transformable robotic wheel for traction force improvement and halting avoidance of a UGV on soft terrains,” Mech. Based Des. Struct. Mach., vol. 48, no. 6, pp. 1–16, 2020.
Master’s Theses
Reducing Computational Load in Impedance Controllers Using Artificial Intelligence
Amirhossein Safdari, 2025Non-invasive Blood Glucose Measurement Using Vital Signals
Mahdi Zeynali, 2025Non-invasive Detection of Obstructive Sleep Apnea and Hypopnea Using Deep Learning Algorithms
Seyed Erfan Mortazavi, 2024Blood Pressure Estimation Using Vital Signals and Soft Computing Techniques
Hanieh Mohammadi, 2024Cooperative Multi-Agent Control Using Reinforcement Learning with Communication Dropout
Armin Javadi, 2024Consensus-Based Collaborative Control Algorithm for Nonlinear Systems Using Reinforcement Learning with Communication Delay Consideration
Rayeheh Niroumanesh, 2024Prediction of Arterial Stiffness Using Vital Signal Analysis
Kiana Pilevar Abrisham, 2024Application and Comparison of Several Optimal Control Approaches for Wheeled Mobile Robots
Sajjad Rashidian Yazd, 2024Collaborative Control of Multi-Wheeled Robot Systems Considering State Constraints with a Focus on Experimental Implementation Challenges
Ali Safarzadeh, 2024Development of a Covert System with Machine Learning Capabilities for Vital Sensor Signal Analysis
Amin Rostami, 2024Design and Simulation of a NAND Gate Structure Based on Weakly Coupled MEMS Resonators
Saba Mortazazadeh Dargheh, 2023Data-Driven Optimal Formation Control of Multi-Robot Systems
Roujin Mousavifard, 2023An Enhanced Model for Stress Detection Using Vital Signals and Deep Learning Algorithms
Koorosh Motaman, 2023Stress Analysis Using Physiological Signals and Deep Neural Networks
Yasin Hasanpour, 2023Formation Control of Multi-Robot Systems Based on Learning-Based Model Predictive Control
Mohammad Amin Najafqolian, 2023Design of a Mechatronic Body Massage System with Swedish Massage Technique Capability
Arman Bakhtiari, 2023Smart Method Design and Implementation for Improving Ultrasonic Flowmeter Accuracy in Small Diameter Pipes
Ali Pourhossein, 2023Modeling and Control of an Active Spherical Robot for In-Pipe Inspection with Fluid Flow
Fatemeh Akhlaghi Fard, 2023Articulated Vehicle Motion Control Using Fuzzy Logic
Mohammad Taheri Sarteshnizi, 2023Combining Inverse Reinforcement Learning with Deep Recurrent Neural Networks for Implementing Artificial Curiosity in Robots
Mohammadreza Nakhaeinezhad Fard, 2022Design and Fabrication of a Continuum Robotic Module with Pneumatic Actuation and Enhanced Control Using Shape Memory Alloys
Mohammad Navid Golchin, 2022Saliency Detection in Videos Using Deep Neural Networks
Mostafa Shahbazzadeh Hosseinklou, 2022Implementing Artificial Curiosity in Robots Using a Belief Generation System
Mohammadreza Akrami, 2022Sequential Data Classification Using an Adaptive Probabilistic Neural Network with Covariance Variance Structures
Arvin Hosseinzadeh, 2021Active Prosthetic Ankle Control for Performing Different Motion Modes
Ehsan Bahalouhoreh, 2021Extraction and Identification of Parameters in a Locally Made Harmonic Drive Model
Abolfazl Hosseinabadi, 2021Design and Control Enhancement of a Wearable Structure Based on Shape Memory Alloys for Assisting Hand Opening/Closing
Seyed Mohammad Mahdi Hosseini, 2020Active Ankle Prosthesis Control Using Machine Learning Algorithms
Ghazaleh Mirzaei, 2020Simultaneous Position and Force Control of a Flexible Continuum Robotic Module with SMA Actuators
Hourieh Shamshirgaran, 2019Design, Fabrication, and Control of an Ungrounded Haptic Interface Using Bladed Electric Motors
Keyvan Arezoo, 2019Improved Design and Control of a Lower Limb Exoskeleton for Stair Climbing and Chair Standing Assistance
Danial Boroughani, 2019Design, Fabrication, and Control of a Motion Generation Mechanism for an Interactive Cycling Simulator
Mohammad Javad Mehrsarvash, 2019Development and Improvement of Kinematic Controllers for Stability and Path Tracking in Wheeled Mobile Robots
Pouya Panahandeh, 2019Real-Time Control Implementation of a Two-DOF Lower Limb Rehabilitation Robot
Karam Almaghout, 2019Formation Control of Wheeled Mobile Robots in the Presence of Obstacles
Najla Nfaileh, 2019Design, Fabrication, and Control of an Intelligent Active Ankle Joint with User Intention Recognition
Farhad Rajaei Mosarkonlou, 2018Lower Limb Exoskeleton Design for Assisting Elderly Walking
Payman Joodzadeh, 2018Control of Tractor-Trailer Robots Considering Actuator Saturation Constraints
Esmail Zare, 2018Design and Construction of a Flexible Robotic Arm for Interaction with Dynamic Environments
Mohammad Mahdi Bahmani Qahfarrokhi, 2018Humanoid Robot Balance Recovery Using Reinforcement Learning Algorithms
Mohammad Javad Davari Dolatabadi, 2018Design and Fabrication of a Wearable Assistive Robot with SMA Actuators and a Tendon-Like Sub-Actuation Mechanism
Saber Kazeminassab Hashemabad, 2018Motion Control of Wheeled Tractor-Trailer Robots Considering Wheel Slippage
Arsalan Babaei Robat, 2018Flexible Beam Modeling Using Absolute Coordinates and Control with Frequency Shaping Method
Hamid Ghorbani, 2018Tractor-Trailer Robot Control Using a Novel Method Assuming No Slippage for Space Payload Transport
Pouya Kasayian, 2018Control of Wheeled Robots with Followers Considering Wheel Slippage
Hossein Shirooz, 2018Design and Fabrication of a Modular and Flexible Robotic Arm Using SMA Actuators
Hossein Akbari, 2018Motion Planning for Object Throwing by a Mobile Base Robot
Mohammad Reza Zia, 2018Design and Construction of a Novel Auxiliary Module to Enhance Locomotion of Mobile Pipe Inspection Robots
Morteza Abdollahi, 2018Design, Fabrication, and Control of an Adaptive Pipe Inspection Robot with SMA Actuation
Azadeh Hasani, 2018Design, Fabrication, and Control of a Knee Rehabilitation Robot
Farhad Yousefi, 2018
