HAMED MAHMUDI

Sep 2017 - present

M.Sc., Mechatronic Engineering - Robot design and mechatronic systems, Qazvin I.Azad University (QIAU)

Thesis title: Balance recovery of Humanoid Robot through robust model predictive control

Supervisor: Dr. Amir Hossein Hassanabadi

Advisor: Dr. Mohammad Norouzi

Expected to graduate in 2021

• GPA: 19/20 (Ranked First)

Sep 2011 - Jan 2016

B.Sc., Mechanical Engineering Qazvin I.Azad University

Project Title : Modeling and Finite Element modal analysis of conical shape with FGM (Functionally graded material) shell

• Grade: 19.5/20

Supervisor: Dr. Mohammad Mahdi Kheirikhah

Advisor: Dr. Aras Adhami Mirhosseini

• GPA: 15.61/20

Nov 2019

• 2 ^nd place of International Humanoid Kid Size Robot League,

MRL-HSL, RoboCup Asia Pacific 2019 - Moscow, Russia.

July 2019

• 1^st place of International Humanoid Teen Size Robot League,

MRL-HSL, RoboCup 2019 - Sydney, Australia.

• 1^st place of International Humanoid Teen Size Drop-In Challenge,

MRL-HSL, RoboCup 2019 - Sydney, Australia.

• 2 ^nd place of International Humanoid Teen Size Technical Challenge,

MRL-HSL, RoboCup 2019 - Sydney, Australia.

• 3 ^rd place of International Humanoid Teen Size Best Humanoid Robots,

MRL-HSL, RoboCup 2019 - Sydney, Australia.

Dec 2018

• 1^st place of International Humanoid Kid Size Robot League,

MRL-HSL, RoboCup Asia Pacific 2018 - Kish Island, Iran.

• 1^st place of International Humanoid Kid Size Technical Challenge,

MRL-HSL, RoboCup Asia Pacific 2018 - Kish Island, Iran.

• 1^st place of International Humanoid Teen Size Robot League,

MRL-HSL, RoboCup Asia Pacific 2018 - Kish Island, Iran.

• 1^st place of International Humanoid Teen Size Technical Challenge,

MRL-HSL, RoboCup Asia Pacific 2018 - Kish Island, Iran.

Jun 2018

• 2 ^nd place of International Humanoid Kid Size Robot League,

MRL-HSL, RoboCup 2018 - Montreal, Canada.

• 3 ^rd place of International Humanoid Kid Size Drop-In Challenge,

MRL-HSL, RoboCup 2018 - Montreal, Canada.

• 2 ^nd place of International Humanoid Teen Size Robot League,

MRL-HSL, RoboCup 2018 - Montreal, Canada.

• 3 ^rd place of International Humanoid Teen Size Technical Challenge,

MRL-HSL, RoboCup 2018 - Montreal, Canada.

• 1^st place of International Humanoid Teen Size Drop-In Challenge,

MRL-HSL, RoboCup 2018 - Montreal, Canada.

Mar 2018

• 1^st place of International Humanoid Kid Size Robot IranOpen Competitions - Tehran, Iran

• 1^st place of International Humanoid Teen Size Robot IranOpen Competitions - Tehran, Iran

Dec 2017

• 1^st place of International Humanoid Kid Size Robot League,

MRL-HSL, RoboCup Asia Pacific 2017 - Bangkok, Thailand.

• 1^st place of International Humanoid Kid Size Technical Challenge,

MRL-HSL, RoboCup Asia Pacific 2017 - Bangkok, Thailand.

• 1^st place of International Humanoid Kid Size Drop-In Challenge,

MRL-HSL, RoboCup Asia Pacific 2017 - Bangkok, Thailand.

Jul 2017

• 1^st place of International Humanoid Kid Size Technical challenge,

MRL-HSL Kid size team, RoboCup 2017 - Nagoya, Japan.

Mar 2017

• 1^st place of International Humanoid Kid Size Robot IranOpen Competitions - Tehran, Iran.

Apr 2016

• 1^st place of International Small Size Robot League, MRL-SSL, RoboCup 2016 - Leipzig, Germany.

Mar 2016

• 2 ^st place of International Small Size Robot Iran Open Competitions - Tehran, Iran.

Jul 2015

• 2 ^st place of International Small Size Robot League, MRL-SSL, RoboCup 2015 - Hefei, China.

Mar 2015

• 1^st place of International Small Size Robot Iran Open Competitions - Tehran, Iran.

Mar 2014

• 1^st place of International Small Size Robot Iran Open Competitions - Tehran, Iran.

2013

• 3 ^st place of International Small Size Robot League

• 1^st place of International Technical challenge Small Size Robot League

• 1^st place of International Best ETDP Presentation Small Size Robot League

MRL-SSL, RoboCup 2013 - Eindhoven, Netherland.

2017 - present

• Mechatronics Research Laboratories (MRL) graduate full Scholarship in Humanoid robot Lab

2013 - 2016

• Mechatronics Research Laboratories (MRL) undergraduate Scholarship in Small Size soccer robot Lab

• Control and Dynamic

• Machine Learning

• Humanoid Robots

• Wheeled Mobile Robots

• Design and Manufacturing

2020

• Mahmudi, H., Gholami, A., Delavaran, M.H., Bazargan, S., Khatibi, S., Moradi, M., Ashayeri, A., Rahmani, A., Mehrtash, S., Abbasi, M., and Fallahzadeh, M. (2020). MRL Team Extended Abstract for Humanoid Kid Size League of RoboCup 2020. Bordeaux, France.

Dec 2019

• Mahmudi, H., Gholami, A., Delavaran, M.H., Khatibi, S., Bazargan, S., Moradi, M., Alaee, B., Rahmani, A., Firouzmandi Bandpey, K., Fallahzadeh, P., Teimouri, M. (2019). MRL Champion Team Paper in Humanoid TeenSize League of RoboCup 2019. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham

2019

• Mahmoudi, H., Fatehi, A., Gholami, A., Delavaran, M. H., Khatibi, S., Alaee, B., Tafazol, S., Abbasi, M., Yeghane Doust, M., Jafari, A., and Teimouri, M. (2019). MRL-HSL Team Description Paper for Humanoid KidSize League of RoboCup 2019. Sydney, Australia.

2019

• Mahmoudi, H., Fatehi, A., Gholami, A., Moradi, M., Fathi, E., Ghiasi Sani, A., Rahmani, G., Mohafezatkar, A., Karimi, A., Rahmani A., and Teimouri, M. (2019). MRL-HSL Team Description Paper for Humanoid TeenSize League of RoboCup 2019. Sydney, Australia.

2018

• Teimouri, M., Fatehi, A., Mahmoudi, H., Sagharichi Ha, P., Gholami, A., Delavaran, M. H., Movafegh, F., Rahmani, G., and Fathi, E. (2018). MRL-HSL Kid size Team Description Paper for Humanoid KidSize League of RoboCup 2018. Montreal, Canada.

2018

• Teimouri, M., Fatehi, A., Mahmoudi, H., Khatibi, S., Mohafezatkar, A., Alaee, B., Tafazol, S., Bazargan, S., Karimi, A., and Rahmani, M. MRL-HSL Team Description Paper for Humanoid TeenSize League of RoboCup 2018. Montreal, Canada.

2017

• Teimouri, M., Salimi, A., Farhadi, A., Fatehi, A., Mahmudi, H., Sharifi, H., and Hosseini Sefat., M. MRL-HSL Team Description Paper for Humanoid Kid Size League of RoboCup 2019. Nagoya, Japan.

2016

• Ganjali Poude, A., Sobhani, M., HosseiniKia, A., Karimpour, A., Mosayeb, S., Mahmudi, H., Esmaeelpourfard, S., Kassaeian Naeini, M., Adhami-Mirhosseini, A.: MRL Extended Team Description 2016. Proceedings of the 19th International RoboCup Symposium, Leipzig, Germany.

2015

• Ganjali Poude, A., Beik Mohammadi, H., Sobhani, M., Akbarzadeh, T., Hajighasemi, A., Mahmudi, H., Esmaeelpourfard, S., Kassaeian Naeini, M., Adhami-Mirhosseini, A.: MRL Extended Team Description 2015. Hefei, China.

MRL-HSL Humanoid robot simulator (Project Leader) 2021

• The simulator project of the MRL-HSL humanoid robot had been carried out to modelling the robot and simulate algorithms such as walking, kicking, control of stability and other aspects to develop a humanoid robot for RoboCup 2021.

Nav.E (Co Funder) 2020

• This project aims to enhance the autonomy of a mobile robot by equipping it with a navigation engine. The engine consists of hardware equipment and software modules. The hardware includes 3D cameras, a 2D laser scanner, sonars, an IMU, processing units, and motor drivers. In software, we are developing SLAM and path planer modules. As the first application, we are installing the engine on an industrial scrubber robot. This project is funded by QIAU for about 20,000 us dollars.

Design a servo motor (Project Leader) 2020

• We now on the decision to design a low-cost servo motor for humanoid robots. Consequently, we will able to design a small size humanoid robot at a low cost for students in schools and junior robots’ leagues.

Karen 2019

• Karen is a 20-DOF low-cost humanoid mobile robot that has been designed based on its previous version ‘Ashkan’ aimed to develop for commercialization as a technological product for other universities research lab and those who participate in RoboCup. This robot is designed and manufactured with the composition of aluminum alloy 7075 for the inside frame and 3D printed PLA material for the exterior cover.

Vertical jumping for a humanoid robot 2019

• This project is started for vertical jumping of humanoid robot for RoboCup technical-challenges competition in Sydney.

2019

COP calculations with Ground reaction force sensors (Project Leader) 2019

• The aim of this project is to set up FSR sensors on the feet of the robot to control the stability of the humanoid robot during push recovery to keep the COP in the support polygon region.

Modifying walking pattern generation of a humanoid robot 2018

• In this project, the trajectory of the end effector of the humanoid robot is designed in order to reduce the strike of feet of the robot to the ground.

Yaw moment compensation of humanoid fast walking 2018

• During the fast walking of the humanoid robot, the robot had a deviation in its path because of the yaw moment, so this project aims to compensate yaw moment of the humanoid robot during walking at various speed.

Push recovery of humanoid robots (ankle, knee, hip Strategies) 2018

• The aim of this project is fall avoidance for the robot during walking. Because the robot faces various disturbances so, maintaining the stability is an important factor for a humanoid robot. In this project, we used the feedback from IMU to control the ankle, knee, and hip actuators.

Design and manufacturing 20-DOF autonomous Humanoid Teen Size robot 2018

• After the experience of the humanoid Kid Size robot, we decided to participate in the Teen Size Humanoid robot league to involve with more mechanical and control challenges.

20-DOF autonomous Humanoid Kid Size robots 2017

• Within this project, we started with the related articles in this field, designed the robot from scratch, and then manufactured it with available milling and turning machines in our university.

Simulation of a 5-DOF mobile manipulator 2017

• This project was implicated using Simulink multibody and Simscape multibody.

2-wheeled mobile robot (ORBI) 2017

• Intending to produce an entertaining robot as a project manager, I communicate with some industrial designers. After the designing process, together with our industrial partner we manufactured the cavity of Orbi and did injection molding and assembling, respectively.

Omnidirectional soccer-player robot (in three versions) 2013-2015

• In this project, we worked on the concept of a four-wheeled Omni-directional robot with a special design of ourselves with high precious design and manufacturing.

• Design and manufacturing of Barrier and Turnstile Gates. 2014

2017-present

• Working as a research engineer in Mechatronics Research Laboratories (MRL), Qazvin Azad University (QIAU)

2018 - 2019

• Leader of Humanoid Robot Lab (HSL), Mechatronics Research Laboratories (MRL), Qazvin Azad University (QIAU)

2016 - 2018

• Team leader of mechanical group, MRL humanoid robot lab, Qazvin I.Azad University

2016 - 2018

• Working as a design engineer at Orbi

Orbi is a start-up in the field of digital entertainment and education. It tries to present virtual reality games to its audience by producing a smart gadget.

2016 - 2017

• Hooshmand Sazan Precision Manufacturing, Alborz Industrial City(Iran)

Hooshmand Sazan is a CNC machining service provider. Its expertise is in the utilization of CNC turning and milling machines and Wire Cut EDM (Electrical Discharge Machining).

Apr 2016

• Member of Technical Committee in RoboCup 2016, Iran Open Competition, Tehran (Iran)

Jul 2014 - Jan 2016

• Barajin Industrial Group, Qazvin (Iran)

Barajin Industrial Group is a manufacturer of automatic gate systems. Its products include automated entry systems and access control systems such as Turnstile gates and Barrier gates for residential and commercial clients.

2013 - present

• Member of Young Researchers and Elite Club

2013 - 2016

• An active member of mechanical and control division in Small Size Robots Lab (SSL) at Mechatronics Research Laboratories (MRL), Qazvin Azad University (QIAU)

2015

• Teaching Assistant, Qazvin I.Azad University

Course title: Mechanic Of Materials, under the supervision of Dr. Mohammad Mahdi Kheirikhah Performed all regular duties of a T.A. for a class size of 32 including occasional lectures, office hours, and marking

• Programming

Python, Matlab, Ansys Mechanical APDL, C++ (familiar), Lua

• Software

Simulink, Simscape, SolidWorks, Ansys Workbench and Ansys Mechanical, Adams (familiar), PowerMILL, Microsoft Word, Microsoft PowerPoint, Microsoft Excel

• Machines

Milling CNC, Mill, Lathes, Drill Press, Welding, FDM 3D Printer

• Persian (Mother's tongue)

• English

• Turkish