Publications
in Robotic Systems
M. Tarokh, "Alternative Kinematics Modelling and Analysis of Rovers with Complex Mobility Systems," Int. J. Automation and Robotics, vol. 36, doi:10.2316/J.2021.2060521, 2021.
M. Tarokh, "Manipulator Task Space Trajectory Tracking with Kinematics and Dynamics Uncertainties," 2021 IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 98849890, doi: 10.1109/ICRA48506.2021.9561108, 2021
M. Tarokh, "A Unified Kinematics Modeling, Optimization and Control of Universal Robots: from Serial and Parallel Manipulators to Walking, Rolling and Hybrid Robot," Autonomous Robots, 44(7), 12331248, 2020.
M. Tarokh and H.D. Ho, "Modeling, Simulation and Animation of Articulated Rovers Traversing Uneven Terrains," Robotica, 37, 10571072, 2019.
M. Tarokh and M. Pasamonic, "Visual Detection for Robotic Person Following in Environments with Significant Light Variations," J. of Imaging and Robotics, vol. 18, no. 3, 2018.
M. Tarokh, "Solving a Class of Nonlinear Inverse Problems using a Feedback Control Approach," Mathematical Problems in Engineering, (Article ID 6843614), pp. 111, 2017.
M. Tarokh, "Visionbased Robotic Person Following in Challenging Environments," 2017 Int. Conf. on Computational Science and Computational Intelligence, vol. 2, pp. 611, 2017
M. Tarokh, "Detecting and Tracking Human Motion with Vision Based Robotics," Book chapter in Robotics New Research. Nova Publishers, 2016.
M. Tarokh, "Experiments in fuzzy multirobot security systems," Proc, Int. Conf. Artificial Intelligence, vol. 1, pp. 3844, 2016.
M, Tarokh, "Kinematicsbased simulation and animation of articulated rovers traversing rough terrain," Proc. Int. Conf. Modeling, Simulation and Visualization Methods, vol. 1, pp. 39, 2016.
M. Tarokh, "A Feedback Control Approach to Nonlinear Inverse Problems," Proc. 28 th Int. Conf. Computer Applications in Industry and Engineering, pp. 127132, 2015.
M. Tarokh, "RealTime Visionbased Robotic Person Following in Fast Walking", Int. J. Imaging and Robotics, vol.1, no. 2, pp. 2236, 2015.
M. Tarokh, "Kinematics Control and Balancing of Articulated Rovers with Active Suspensions," 28th Int. Conf. Computer Applications in Industry and Engineering, pp. 275280, 2015.
M. Tarokh, "Realtime motion tracking algorithms of robot manipulators using adaptive genetic," J. Intelligent and Robotic Systems, 74, 697–708. 2014.
M. Tarokh, "Visionbased robotic person Following is fast walking," IEEE Conf. Man, Machine and Cybernetics, vol. 2, pp. 31793184, 2014.
M. Tarokh, "Solving the forward kinematics problem in parallel robots using support vector regression," J. Eng. Appl. of Artificial Intelligence, 26, 16981706, 2014.
M. Tarokh, "Explicit input and output feedback control for discrete time systems," Int. J. Control, Automation and Systems, 11(3), 17, 2013.
M. Tarokh, "Vision Based Adaptive Robotic Person Following: Shape Detection and Color Matching," 10th Int. Conf. on Ubiquitous Robots and Ambient Intelligence, pp. 407412, Jeju, Korea, 2013.
M. Tarokh, "Solving inverse problems by decomposition, classification and simple modeling," J. Information Sciences, vol. 218, 5160, 2013.
M. Tarokh, "Inverse Kinematics Solutions for Serial Robots using Support Vector Regression," IEEE Int. Conf. Robotics and Automation, vol. 2, pp. 41794183, 2013.
M. Tarokh, "Systematic kinematics analysis and balance control of high mobility rovers over rough terrain," J. Robotics and Autonomous Systems, 61, 1324, 2013.
M. Tarokh, "A new approach to solving inverse problems with application to hexapod kinematics," 25th Int. Conf. on Computer Applications in Industry and Engineering, pp. 312317, 2012.
M. Tarokh, "Development of a robotic helicopter for monitoring pollution and habitat in estuarie," 8th International Conf. on Intelligent Environments, vol. 1, pp. 103108, 2012.
M. Tarokh, "Visual tracking and following a moving target," Proc. International Research and Academics on Robotics, pp. 332336, 2012.
M. Tarokh and M. Wang, "A computational intelligent approach to kinematics problems in robotics and computer animation," Int. J. Humanoid Robots, 8(2), 375390, 2011.
M. Tarokh, "Motion and balance control of high mobility robots traversing rough terrain," ICGST Conference on Computer Science and Engineering, vol. 1, pp. 321336, 2011.
M. Tarokh, "Visual tracking and following a moving target: Past generations and future directions," Proceeding of ERA, vol. 1, pp. 116123, 2011.
M. Tarokh and P. Merloti, "Visionbased robotic person following under light variations and difficult waling maneuvers," J. Filed Robotics, vol. 27, no. 4, pp. 387398, 2010.
M. Tarokh, K. Keerthi** and M. Lee, "Classification and characterization of inverse kinematics solutions for anthropomorphic manipulators,", J. of Robotics and Autonomous Systems, vol. 58, pp. 115120, 2010.
M. Tarokh M. Cross** and M. Lee, "Fuzzy decision making for multirobot security systems," J. Artificial Intelligence Reviews, vol 58, pp. 345361, Springer, 2010.
M. Tarokh, D. Pai** and P. Merloti**, "Autonomous helicopter aerial imaging for monitoring of natural Reserves," Proc. 7th Int. Conf. Ubiquitous Robots and Ambient Intelligence, pp. 221224, 2010.
M. Tarokh and M. Wang, "Intelligent robotic security system,", Proc. 7th Int. Conf. Ubiquitous Robots and Ambient Intelligence, pp. 341346, 2010.
M. Tarokh, P. Merloti and WS. Lin, "Image processing for robotic person tracking," Proc. Int. Conf. Image processing, computer vision and pattern recognition, pp. 231236, 2010.
M. Tarokh and M. Lee, "Systematic method for kinematics modeling of legged robots on uneven terrain," Int. J. Control and Automation, vol 2, No. 2, pp. 917, 2009.
M. Tarokh, "Hybrid intelligent path planning for articulated rovers in rough terrain," J. Fuzzy Sets and Systems, Elsevier, pp. 111, 2008.
M. Tarokh and K. Keerthi**, "Classification and characterization of inverse kinematics solutions for robotics and animation," Proc. 5th Int. Conf. Ubiquitous Robots and Ambient Intelligence,
pp. 389304, Seoul, Korea, Nov. 2008.
M. Tarokh, "A unified approach to exact, approximate, optimized and constrained output feedback," Int. J. Control, Automatic and Systems, vol. 6, no. 6, pp. 939947, Dec. 2008.
M. Tarokh, P. Merlotti**, J. Duddy**and M. Lee, "Visionbased robotic person following under lighting variations," Proc. IEEE 3ed Int. Conf. on Sensing Technology, pp. 148152, Taiwan, Dec. 2008.
M. Tarokh, M. Lee, "Kinematics modeling of multilegged robots walking on rough terrain," 3ed Int. Symp. on Control and Automation, pp. 332337, China, Dec. 2008.
M. Tarokh and G. McDermott, "A systematic approach to kinematics modeling of high mobility wheeled rovers," Proc. IEEE Int. Conf. Robotics and Automation, pp. 901906 , Rome, Italy, April 2007.
M. Tarokh, "Realtime forward kinematics solutions for general Stewart platforms," Proc. IEEE Int. Conf. Robotics and Automation, pp. 49054910, Rome, Italy, April 2007.
M. Tarokh and X. Zhang, "An adaptive genetic algorithm for realtime robotic trajectory tracking," 8th IFACIEEE Symposium on Robot Control: Vol. WeP2.32. ,pp. 101106,. Bologna, Italy, 2006.
M. Tarokh and J. Kuo, "Vision based Person tracking and following in unstructured environments," Proc. IEEE 13th Annual Conf. on Mechatronics and Machine Vision in Practice: Vol. 1. , pp. 031.1031.6, Toowoomba, Australia, 2006.
M. Tarokh, "Fuzzy control of mobile robots for tracking", Invited Talk, IEEECISMexico Seminar on Computational Intelligence: Vol. 1, pp. 5158, Tijuana, Mexico: IEEE CISMexico, 2006.
M. Tarokh, G. McDermott and L. Mireles, "Balance control of articulated rovers with active suspension," Proc. 8th IFACIEEE Symposium on Robot Control: Vol. FrP 2.12. (pp. 16). Bologna, Italy, 2006.
M. Tarokh, "Exact, approximate, optimized and constrained output feedback pole assignment," Proc. IEEE 45th Conference on Decision an Control: Vol. 1., pp. 12711276, San Diego, CA, 2006.
M. Tarokh and K. Keerthi, "Inverse kinematics solutions of anthropomorphic limbs by decomposition and fuzzy classification," Proc. Int. Conf. Artificial Intelligence, vol. 1, pp. 338343, Las Vegas, June 2005.
M. Tarokh and G. McDermott, "Kinematics modeling and analysis of articulated rovers," IEEE Trans. on Robotics, vol. 21, no. 4, pp. 439454, 2005.
M. Tarokh and J. Kuo, "Intelligent robotic person following in unstructured environments", Proc. 2nd IFAC Int. Conf. Informatics in Control, Automation and Robotics, vol. 3, pp 101106, Barcelona, Spain, September 2005.
G. McDermott, and M. Tarokh, "A general approach to kinematics modeling of allterrain rovers," Proc. IEEE Int. Conf. on Systems, Man and Cybernetics, pp. 20192024, October 2005.
M. Kim and M. Tarokh, "Informationbased inverse kinematics for animation and robotics", Proc. 2nd Int. IFAC Int. Conf. Informatics in Control, Automation and Robotics, vol. 2, pp 7684, Barcelona, September, 2005.
M. Tarokh, A genetic rover planner with fuzzy logic adaptation for operation in rough terrain," Proc. IEEE Cosponsored Int. Conf. on Fuzzy Systems, Neural Networks and Genetic Algorithms, Mexico, pp. 2738, Oct. 2005.
M. Tarokh and M. Kim, "Modeling of robot inverse kinematics by spatial decomposition and functional approximation," Proc. Int. Conf. Modeling, Simulation and Visualization Methods, pp8894, Las Vegas, 2005.
G. McDermott, M. Tarokh and L. Mireles, "Balance Control of Articulated Rovers with Active Suspension," 7th IFAC Int. Conference on Robot Control, Italy, September 2006, Accepted.
M. Tarokh, L. Mireles and G. McDermott, "Two Approaches to Kinematics Modeling of Articulated Rovers," Research Report No. CSRR01October2005.
M. Tarokh and G. McDermott, "Kinematics Modeling and Analyses of Articulated Rovers," IEEE Transactions on Robotics, Vol 21, No.4, pp. 539553, August 2005.
M. Tarokh, "Robotic person following using fuzzy control and image segmentation", Journal of Robotic Systems, Vol. 20, No. 9, pp. 557568, September 2003.
M. Tarokh and D. Debonis, "Adaptive genetic path planner for rovers operating in partially known environments," Proc. 2002 International Conference on Artificial Intelligence, Vol. 4, pp. 822827, June 2002.
M. Tarokh and P. Ferrari, "Robotic person following using image processing and fuzzy control", Proc. 2002 International Conference on Artificial Intelligence, Vol. 2, pp. 412417, June 2002.
M. Tarokh and D. Debonis, "Adaptive genetic path planner for rovers operating in partially known environments," Proc. 2002 International Conference on Artificial Intelligence, Vol. 4, pp. 822827, June 2002
M. Tarokh, and A. Hourtash "Manipulator path planning by decomposition: Algorithm and analysis"" IEEE Trans. Robotics and Automation, Vol. 17, No. 6, pp. 842856, December 2001.
M. Tarokh, R. Chan and C. Song, "Path planning of rovers using fuzzy logic and genetic algorithm," World Automation Conf. ISORA026, pp.17, Hawaii, June 2000.
M. Tarokh, "Fast Collision Free Motion Planning for Industrial Manipulators", Advanced Manufacturing , News Letter, Sept 2000.
M. Tarokh, Z. Shiller and S. Hayati, "A comparison of two traversabilitybased path planners for planetary rovers," Proc. 5th Int. Symp. Artificial Intelligence, Robotics and Automation, pp. 151157, July 1999.
M. Tarokh, G. McDermott, S. Hayati, and J. Hung, "Kinematic modeling of a high mobility Mars rover," Proc. IEEE Int. Conf. Robotics and Automation, pp. 992998, Detroit, MI, 1999.
M. Tarokh, "Decoupled nonlinear three term controllers for robot trajectory tracking," IEEE Trans. Robotics and Automation, pp. 369380, vol. 15, No. 2, 1999.
M. Tarokh, Z, Shiller and S. Hayati, "A comparison of two traversabilitybase path planners for planetary rovers", Proc. 5th Int. Symp. Artificial Intelligence, Robotics and Automation in Space, pp. 151157, June 1999.
M. Tarokh, G. McDermott, S. Hayati anf J. Hung, "Kinematic modeling of a high mobility Mars rover", Proc. IEEE Int. Conf. robotics and Automation, pp. 992998, Detroit, MI, May 1999.
M. Tarokh, "Nonlinear decoupled threeterm controllers for robot trajectory tracking", IEEE Trans. Robotics and Automation, pp. 369380, vol. 15, no. 2, April 1999.
M. Gerke and M. Tarokh, "Realtime collision avoidance of multirobots using fuzzy logic", Proc. World Automation Conf., ISORA, pp. 149.1149.7, Anchorage, AK, 1998.
A. Hourtash and M. Tarokh, "Efficient path planning by optimal configuration generation using evolutionary computing", Proc. World Automation Conf., ISORA, pp. 150.1150.8, Anchorage, AK, 1998.
M. Tarokh, and H, Hourtash, "path planning by decomposition and parallel search", Proc. IEEE Conf. Robotics and Automation, vol. 1, pp. 339345, 1997.
A. Hourtash and M. Tarokh, "Optimal robot decomposition for fast path planning", Proc. Int. Conf. Advanced Robotics, pp. 339345, 1997.
M. Tarokh, "Adaptive fuzzy force control of manipulators with unknown environment parameters", Int. J. Robotics Systems, vol. 13, pp. 233248, 1997.
M. Tarokh, "Decentralized adaptive tracking control of robot manipulators", Int. J. Robotic Systems, vol. 12, pp. 803816, Dec. 1996.
M. Tarokh, "Implementation of a fast path planner on an industrial robot", Proc. IEEE Int. Conf. Robotics and Automation, vol. 1, pp. 436441, April 1996.
M. Tarokh, and S. Bailey, "force tracking with unknown environment parameters using adaptive fuzzy controllers", Proc. IEEE Int. Conf. Robotics and Automation, vol. 1, pp. 270275, April 1996.
M. Tarokh, "A decentralized nonlinear controller for robot manipulator trajectory tracking", Proc. IEEE Int. Conf. Robotics and Automation, vol. 4, pp. 36833688, April 1996.
M. Tarokh, "Fast path planning for robot manipulators by formationposture decomposition", IEEE/JRS Int. Conf. Robotics and Automation, vol. 2, pp. 138143, Pittsburgh, PA, August 1995.
M. Tarokh, and G. McDermott, "Robust adaptive control for trajectory tracking of robot manipulators", Proc. 3ed IASTED Int. Conf. Robotics and Manufacturing, vol. 1, pp. 152188, Mexico, June 1995.
M. Tarokh and G. McDermott, "A sliding mode robot controller with bounded estimation", IEEE Trans. Robotics and Automation, pp. 313, vol. 11, 1995.
M. Tarokh, and S. Bailey, "Adaptive fuzzy force control of robot manipulators", vol. 1, pp. 185188, Proc. 3ed IASTED Int. Conf. Robotics and Manufacturing, Mexico, June 1995.
