MG
Morteza Gharib
cs.ROModels, Cardiovascularcs.SYeess.SYHeart Valve Prosthesisphysics.flu-dynModels, BiologicalHemodynamicsAortaArterial Pressure
On Valency
published · living versionsW_pcrhh6ra·v1 · currentpublished
Bio-inspired Thrust-Assisted Trotting on a legged-Aerial Robot via Real-Time QP-MPC
with Shreyansh Pitroda, Eric Sihite, Alireza Ramezani
1 version
Preprints & journals
145 papers in the corpus · 1989–2026Real-Time Disturbance-Aware Koopman Model Predictive Control for Quadrotors in Spatially Varying Winds2610.27414v2 · Stella Kombo, Masih Haseli, Alejandro A. Stefan-Zavala et al.2026 · 0 citationsarXiv
Bio-inspired Thrust-Assisted Trotting on a legged-Aerial Robot via Real-Time QP-MPC2610.26810v1 · Shreyansh Pitroda, Eric Sihite, Alireza Ramezani et al.2026 · 0 citationsarXivon Valency
Design and Control of a Multimodal Legged-Aerial Robot Through Separate Control Contraction Metrics2610.27315v1 · Kaushik Venkatesh Krishnamurthy, Eric Sihite, Alireza Ramezani et al.2026 · 0 citationsarXivon Valency
Wind-Informed Rapid Flight-Planning in Complex Urban Topologies via Machine Learning and Experimental Validation2608.10309v1 · Peter I. Renn, Alejandro A. Stefan-Zavala, Julian Humml et al.2026 · 0 citationsarXiv
Revealing Hidden Myocardial Infarction Signatures from Brief Single-Lead Electrocardiograms: A Novel Framework for Smart Wearable Applications10.64898/2026.07.08.26357521v1 · Alavi, R., Li, J., Matthews, R. V. et al.2026 · 0 citationsmedRxiv
Metallic Ultrasound Waveguides as a Distributed Tactile Sensing Platform2607.02827v2 · Alexandros Rosakis, Alessio Tamborini, Basile Fakhoury et al.2026 · 0 citationsarXiv
Data-driven surrogate models for forecasting experimentally measured fluid flows2606.10848v2 · Peter I. Renn, Emily H. Palmer, Cong Wang et al.2026 · 0 citationsarXiv
Experimental dataset of sub-critical cylinder wake velocity fields.42140993 · Renn, Peter I, Palmer, Emily H, Gharib, Morteza2026 · 0 citationsScientific data. 2026;13(1)
Computational Study of Pristine, Al- and P-Doped B12N12 Nanocages for BrCN Adsorption and Detection under Electrostatic Fields Using Density Functional Theory, Time-Dependent-Density Functional Theory, and Reduced Density Gradient.41691702 · Alvand, Rezvan, Rezaei-Sameti, Mahdi, Rajaie Khorasani, Reza et al.2026 · 1 citationChemphyschem : a European journal of chemical physics and physical chemistry. 2026;27(3):e202500611
Wake Vectoring for Efficient Morphing Flight2512.05211v2 · Ioannis Mandralis, Severin Schumacher, Morteza Gharib2025 · 0 citationsarXiv
Strain Energy Minimization Technique to Design a Surgical Heart Valve Using a Novel Polymer.41252100 · Beith, Jason, Stanfield, J Ryan, Gharib, Morteza2026 · 3 citationsAnnals of biomedical engineering. 2026;54(2):422-435
Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing2510.09526v1 · Chenghao Wang, Kaushik Venkatesh Krishnamurthy, Shreyansh Pitroda et al.2025 · 1 citationarXiv
A Narwhal-Inspired Sensing-to-Control Framework for Small Fixed-Wing Aircraft2510.07160v2 · Fengze Xie, Xiaozhou Fan, Jacob Schuster et al.2025 · 0 citationsarXiv
Machine Learning Reconstruction of Left Ventricular Pressure From Peripheral Waveforms.40848528 · Tamborini, Alessio, Aghilinejad, Arian, Matthews, Ray V et al.2025 · 4 citationsJACC. Advances. 2025;4(9):102104
Quadratic Programming-Based Posture Manipulation and Thrust-vectoring for Agile Dynamic Walking on Narrow Pathways2507.23203v1 · Chenghao Wang, Eric Sihite, Kaushik Venkatesh Krishnamurthy et al.2025 · 0 citationsarXiv
Quadrotor Morpho-Transition: Learning vs Model-Based Control Strategies2506.14039v1 · Ioannis Mandralis, Richard M. Murray, Morteza Gharib2025 · 0 citationsarXiv
RapidPIV: Full Flow-Field kHz PIV for Real-Time Display and Control2504.17987v1 · Scott A. Bollt, Samuel H. Foxman, Morteza Gharib2025 · 4 citationsarXiv
ATMO: an aerially transforming morphobot for dynamic ground-aerial transition.40253535 · Mandralis, Ioannis, Nemovi, Reza, Ramezani, Alireza et al.2025 · 7 citationsCommunications engineering. 2025;4(1):74
Bremsstrahlung radiation from toroidal plasmas generated through hydrodynamic shear.40140425 · Mendoza, Sean, Gharib, Morteza2025 · 0 citationsScientific reports. 2025;15(1):10494
NMPC-based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery2503.18307v1 · Adarsh Salagame, Shashwat Pandya, Ioannis Mandralis et al.2025 · 1 citationarXiv
A spectral machine learning approach to derive central aortic pressure waveforms from a brachial cuff.40009644 · Tamborini, Alessio, Aghilinejad, Arian, Gharib, Morteza2025 · 6 citationsProceedings of the National Academy of Sciences of the United States of America. 2025;122(9):e2416006122
Data-Driven Modeling for On-Demand Flow Prescription in Fan-Array Wind Tunnels2412.12309v1 · Alejandro A. Stefan-Zavala, Isabel Scherl, Ioannis Mandralis et al.2024 · 2 citationsarXiv
Self-supervised cost of transport estimation for multimodal path planning2412.06101v1 · Vincent Gherold, Ioannis Mandralis, Eric Sihite et al.2024 · 2 citationsarXiv
Conjugate momentum based thruster force estimate in dynamic multimodal robot2411.14596v1 · Shreyansh Pitroda, Eric Sihite, Taoran Liu et al.2024 · 1 citationarXiv
Enhanced Capture Point Control Using Thruster Dynamics and QP-Based Optimization for Harpy2411.17727v1 · Shreyansh Pitroda, Eric Sihite, Taoran Liu et al.2024 · 0 citationsarXiv
Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes2411.12968v1 · Shreyansh Pitroda, Eric Sihite, Kaushik Venkatesh Krishnamurthy et al.2024 · 0 citationsarXiv
Optimization free control and ground force estimation with momentum observer for a multimodal legged aerial robot2411.11216v1 · Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Shreyansh Pitroda et al.2024 · 0 citationsarXiv
Enabling steep slope walking on Husky using reduced order modeling and quadratic programming2411.11788v1 · Kaushik Venkatesh Krishnamurthy, Eric Sihite, Chenghao Wang et al.2024 · 0 citationsarXiv
Listening to heart sounds through the pressure waveform.39501052 · Tamborini, Alessio, Gharib, Morteza2024 · 8 citationsScientific reports. 2024;14(1):26824
A 3-DOF caudal fin for precise maneuvering of thunniform-inspired unmanned underwater vehicles.39043744 · Huertas-Cerdeira, Cecilia, Gharib, Morteza2024 · 2 citationsScientific reports. 2024;14(1):17000
Capture Point Control in Thruster-Assisted Bipedal Locomotion2406.14799v1 · Shreyansh Pitroda, Aditya Bondada, Kaushik Venkatesh Krishnamurthy et al.2024 · 2 citationsarXiv
Thruster-Assisted Incline Walking2406.13118v1 · Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Shreyansh Pitroda et al.2024 · 0 citationsarXiv
A new methodology for determining the central pressure waveform from peripheral measurement using Fourier-based machine learning.38924863 · Aghilinejad, Arian, Tamborini, Alessio, Gharib, Morteza2024 · 7 citationsArtificial intelligence in medicine. 2024;154:102918
Assessing pressure wave components for aortic stiffness monitoring through spectral regression learning.38863521 · Aghilinejad, Arian, Gharib, Morteza2026 · 7 citationsEuropean heart journal open. 2024;4(3):oeae040
Narrow-Path, Dynamic Walking Using Integrated Posture Manipulation and Thrust Vectoring2405.06070v1 · Kaushik Venkatesh Krishnamurthy, Chenghao Wang, Shreyansh Pitroda et al.2024 · 2 citationsarXiv
Validation of a Suprasystolic Cuff System for Static and Dynamic Representation of the Central Pressure Waveform.38591330 · Tamborini, Alessio, Gharib, Morteza2024 · 7 citationsJournal of the American Heart Association. 2024;13(8):e033290
Dynamic modeling of wing-assisted inclined running with a morphing multi-modal robot2311.09963v1 · Eric Sihite, Alireza Ramezani, Morteza Gharib2023 · 10 citationsarXiv
Publisher Correction: Multi-Modal Mobility Morphobot (M4) with appendage repurposing for locomotion plasticity enhancement.37550289 · Sihite, Eric, Kalantari, Arash, Nemovi, Reza et al.2023 · 3 citationsNature communications. 2023;14(1):4740
Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot2308.00235v1 · Eric Sihite, Filip Slezak, Ioannis Mandralis et al.2023 · 9 citationsarXiv
A Pneumatic Low-Pass Filter for High-Fidelity Cuff-Based Pulse Waveform Acquisition.37479898 · Tamborini, Alessio, Gharib, Morteza2026 · 7 citationsAnnals of biomedical engineering. 2023;51(11):2617-2628
Multi-Modal Mobility Morphobot (M4) with appendage repurposing for locomotion plasticity enhancement.37369710 · Sihite, Eric, Kalantari, Arash, Nemovi, Reza et al.2023 · 164 citationsNature communications. 2023;14(1):3323
Forecasting subcritical cylinder wakes with Fourier Neural Operators2301.08290v1 · Peter I Renn, Cong Wang, Sahin Lale et al.2023 · 7 citationsarXiv
Model Predictive Loitering and Trajectory Tracking of Suspended Payloads in Cable-Driven Balloons Using UGVs2206.03606v1 · Julius Wanner, Eric Sihite, Alireza Ramezani et al.2022 · 0 citationsarXiv
Efficient Path Planning and Tracking for Multi-Modal Legged-Aerial Locomotion Using Integrated Probabilistic Road Maps (PRM) and Reference Governors (RG)2205.06392v1 · Eric Sihite, Benjamin Mottis, Paul Ghanem et al.2022 · 14 citationsarXiv
Mid-Air Helicopter Delivery at Mars Using a Jetpack2203.03704v1 · Jeff Delaune, Jacob Izraelevitz, Samuel Sirlin et al.2022 · 11 citationsarXiv
The Influence of Valve Leaflet Stiffness Variability on Aortic Wall Shear Stress.34993697 · Rosakis, Alexandros, Gharib, Morteza2022 · 4 citationsAnnals of biomedical engineering. 2022;50(1):29-38
Intrinsic Frequencies of Carotid Pressure Waveforms Predict Heart Failure Events: The Framingham Heart Study.33390053 · Cooper, Leroy L, Rong, Jian, Pahlevan, Niema M et al.2021 · 22 citationsHypertension (Dallas, Tex. : 1979). 2021;77(2):338-346
Motivations and Preliminary Design for Mid-Air Deployment of a Science Rotorcraft on Mars2010.06630v1 · Jeff Delaune, Jacob Izraelevitz, Larry A. Young et al.2020 · 2 citationsarXiv
Thermal Effects on Fluid Mixing in the Eye.32458221 · Huang, Jinglin, Gharib, Morteza2021 · 4 citationsAnnals of biomedical engineering. 2021;49(1):251-261
Honeybees use their wings for water surface locomotion.31740588 · Roh, Chris, Gharib, Morteza2020 · 38 citationsProceedings of the National Academy of Sciences of the United States of America. 2019;116(49):24446-24451
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