Department of Mechanical Engineering
Pejman Iravani

Contact details

Room: 4E 2.60

Tel: +44 (0) 1225 384494



Dr. Pejman Iravani



Pejman Iravani is a Lecturer in Mechanical Engineering. His research is in the area of Robotics, Computer Vision and Machine Learning. His current work aims taking robots from factories into populated environments.


Pejman's current research is looking into the technologies that will make robots operational in real-world environments such as homes, workplace, hospitals and so on. His vision is that within the next 10-15 years robots will be doing most of the unpleasant jobs that currently humans are doing.

Pejman and his team are developing various technologies, including sensing materials for artificial skins, machine learning methods for robots to learn autonomously, and control methods to make robots safe when in close proximity to humans.

Teaching units

  • Introduction to integrated engineering
  • Robotics engineering.


Book Sections

Bolien, M., Iravani, P. and Du Bois, J. L., 2015. Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios. In: Dixon, C. and Tuyls, K., eds. Towards Autonomous Robotic Systems. Springer, pp. 50-55. (Towards Autonomous Robotic Systems; 9287)

Corradi, T., Hall, P. and Iravani, P., 2014. Tactile features:recognising touch sensations with a novel and inexpensive tactile sensor. In: Mistry, M., Leonardis, A., Witkowski, M. and Melhuish, C., eds. Advances in Autonomous Robotics Systems. Springer, pp. 163-172. (Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics; 8717)

Ayten, K. K., Iravani, P. and Sahinkaya, M. N., 2011. Optimum trajectory planning for industrial robots through inverse dynamics. In: ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics. Setubal, Portugal: INSTICC Press, pp. 105-110.

Beale, D., Iravani, P. and Hall, P., 2010. Statistical visual-dynamic model for hand-eye coordination. In: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. Piscataway, NJ: IEEE Computer Society, pp. 3931-3936.

El-Werfelli, M., Dunn, R. and Iravani, P., 2009. Backbone-network reconfiguration for power system restoration using genetic algorithm and expert system. In: International Conference on Sustainable Power Generation and Supply 2009, SUPERGEN '09. IEEE Computer Society, pp. 2690-2695. (1st International Conference on Sustainable Power Generation and Supply, SUPERGEN '09)

Iravani, P., 2009. Multi-level network analysis of multi-agent systems. In: Iocchi, L., Matsubara, H., Weitzenfeld, A. and Zhou, C., eds. RoboCup 2008: Robot Soccer World Cup XII.Vol. 5399 LNAI. Berlin: Springer, pp. 495-506. (Lecture Notes in Artificial Intelligence, Vol. 5399)

Johnson, J. and Iravani, P., 2007. Hypernetworks of agents in robot football. In: Bogg, J. and Geyer, R., eds. Complexity, Science and Society. Oxford: Radcliffe Publishing, pp. 99-103.

Iravani, P., 2005. Discovering Relevant Sensor Data by Q-Analysis. In: RoboCup 2005: Robot Soccer World Cup IX.Vol. 4020/2006. Berlin: Springer, pp. 81-92. (Lecture Notes in Computer Science)

Iravani, P., Johnson, J. H. and Rapanotti, L., 2004. Application of concept grounding techniques to reduce dimensionality in sensory-motor spaces. In: Onaindia, E. and Staab, S., eds. Proceedings of the Second Starting AI Researchers’ Symposium (STAIRS 2004).Vol. 109. IOS Press. (Frontiers in Artificial Intelligence and Applications)


Bondarchuk, A. N., Peter, L. M., Kissling, G. P., Madrid, E., Aguilar-Martínez, J. A., Rymansaib, Z., Iravani, P., Gromboni, M., Mascaro, L. H., Walsh, A. and Marken, F., 2017. Vacuum-annealing induces sub-surface redox-states in surfactant-structured α-Fe2O3 photoanodes prepared by ink-jet printing. Applied Catalysis B: Environmental, 211, pp. 289-295.

Zhang, R., Iravani, P. and Keogh, P., 2017. Closed loop control of force operation in a novel self-sensing dielectric elastomer actuator. Sensors and Actuators A-Physical

Iravani, P., Plummer, A., Sahinkaya, N., Bhatti, J. and Hale, M., 2017. Adaptive height controller for an agile hopping robot. Robotics and Autonomous Systems

Corradi, T., Hall, P. and Iravani, P., 2017. Object recognition combining vision and touch. Robotics and Biomimetics, 4 (2).

Bolien, M., Iravani, P. and Du Bois, J. L., 2017. Toward robotic pseudo-dynamic testing for hybrid simulations of air-to-air refuelling. IEEE/ASME Transactions on Mechatronics, 22 (2), 7829365.

Ding, B., Plummer, A. and Iravani, P., 2016. Investigating balancing control of a standing bipedal robot with point foot contact. IFAC-PapersOnLine, 49 (21), pp. 403-408.

Zhang, R., Huang, X., Li, T., Iravani, P. and Keogh, P., 2016. Novel arrangements for high performance and durable dielectric elastomer actuation. Actuators, 5 (3), p. 20.

Rymansaib, Z., Iravani, P., Emslie, E., Medvidovic-Kosanovic, M., Sak-Borsnar, M., Verdejo, R. and Marken, F., 2016. All-Polystyrene 3D-Printed Electrochemical Device with Embedded Carbon Nanofiber – Graphite – Polystyrene Composite Conductor. Electroanalysis, 28 (7), pp. 1517-1523.

Beale, D., Iravani, P. and Hall, P., 2011. Probabilistic models for robot-based object segmentation. Robotics and Autonomous Systems, 59 (12), pp. 1080-1089.

Jones, R., Haufe, P., Sells, E., Iravani, P., Olliver, V., Palmer, C. and Bowyer, A., 2011. RepRap – the replicating rapid prototyper. Robotica, 29 (01), pp. 177-191.

Jamshidi, J., Kayani, A., Iravani, P., Maropoulos, P. G. and Summers, M. D., 2010. Manufacturing and assembly automation by integrated metrology systems for aircraft wing fabrication. Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 224 (1), pp. 25-36.

Johnson, J. H. and Iravani, P., 2007. The Multilevel Hypernetwork Dynamics of Complex Systems of Robot Soccer Agents. ACM Transactions on Autonomous and Adaptive Systems, 2 (2), 5.


Jones, R. O., Iravani, P. and Bowyer, A., 2012. Rapid Manufacturing of Functional Engineering Components. University of Bath.

Conference or Workshop Items

Feng, Y., Iravani, P. and Brace, C., 2016. Position Estimation and Autonomous Control of a Quad Vehicle. In: SAE-TONGJI 2016 Driving Technology of Intelligent Vehicle Symposium, 2016-09-22.

Yu, T., Plummer, A., Iravani, P., Bhatti, J., Zahedi, S. and Moser, D., 2016. Testing an Electrohydrostatic Powered Ankle Prosthesis with Transtibial and Transfemoral Amputees. In: 7th IFAC Symposium on Mechatronic Systems, 2016-09-05 - 2016-09-08, Loughborough University.

Yu, T., Plummer, A., Iravani, P., Bhatti, J., Zahedi, S. and Moser, D., 2016. The Design, Analysis And Testing Of A Compact Electrohydrostatic Powered Ankle Prosthesis. In: Bath/ASME FPMC 2016, 2016-09-07.

Yu, T., Plummer, A., Iravani, P. and Bhatti, J., 2015. The Design Of A Powered Ankle Prosthesis With Electrohydrostatic Actuation. In: ASME/BATH 2015 Symposium on Fluid Power and Motion Control, FPMC2015, 2015-10-12 - 2015-10-14. ASME.

Corradi, T., Hall, P. and Iravani, P., 2015. Bayesian tactile object recognition:learning and recognising objects using a new inexpensive tactile sensor. In: IEEE Interational Conference on Robotics and Automation (ICRA) 2015, 2015-05-26 - 2015-05-30, Washington.

Bhatti, J., Plummer, A., Iravani, P. and Ding, B., 2015. A survey of dynamic robot legged locomotion. In: 2015 International Conference on Fluid Power and Mechatronics (FPM), 2015-08-05 - 2015-08-07, Sun Island Garden Hotel. IEEE.

Hockings, N., Iravani, P. and Bowen, C., 2014. Artificial ligamentous joints:Methods, materials and characteristics. In: IEEE-RAS International Conference on Humanoid Robots, 2014-11-18 - 2014-11-20.

Du, Z., Iravani, P. and Sahinkaya, M. N., 2014. A new approach to design optimal excitation trajectories for parameter estimation of robot dynamics. In: 2014 UKACC International Conference on Control (CONTROL), 2014-07-09 - 2014-07-11.

Rymansaib, Z., Iravani, P. and Sahinkaya, M. N., 2013. Exponential trajectory generation for point to point motions. In: 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013-07-09 - 2013-07-12, NSW. Piscataway, NJ: IEEE, pp. 906-911.

Bhatti, J., Iravani, P., Sahinkaya, M. N. and Plummer, A. R., 2013. Instantaneous control of a vertically hopping leg's total step-time.

Bhatti, J., Iravani, P., Plummer, A. R. and Sahinkaya, M. N., 2012. Towards running robots for discontinuous terrain. Berlin, Germany: Springer, pp. 461-462. (Lecture Notes in Computer Science; 7429/2012)

Bhatti, J., Plummer, A. R., Sahinkaya, M. N., Iravani, P., Guglielmino, E. and Caldwell, D. G., 2012. Fast and adaptive hopping height control of single-legged robot. In: ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012, 2012-07-02 - 2012-07-04.

Bhatti, J., Plummer, A., Iravani, P. and Sahinkaya, M., 2012. Implementation of closed loop signal shaping in a hydraulic system. In: Mechatronics 2012: The 13th Mechatronics Forum International Conference, 2012-09-17 - 2012-09-19.

Ayten, K.K., Sahinkaya, M.N. and Iravani, P., 2011. Optimum trajectory planning for redundant and hyper-redundant manipulators through inverse dynamics. In: ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011, 2011-08-28 - 2011-08-31. ASME, pp. 1185-1192.

Iravani, P., Hall, P., Beale, D., Charron, C. and Hicks, Y., 2011. Visual object classification by robots using on-line self-supervised learning. IEEE, pp. 1092-1099.

Iravani, P. and Sahinkaya, M. N., 2010. Variable-velocity exponential input shaping for position controlled robotic systems. In: 3rd Annual Dynamic Systems and Control Conference, 2010-09-13 - 2010-09-15.

Iravani, P., 2008. Multi-level dynamics of a simulated agent system. In: 5th European Conference in Complex Systems ECCS08, 2008-09-14 - 2008-09-19.

Iravani, P. and Johnson, J. H., 2005. The emergence of a visual communication language in robotic football. In: Towards Autonomous Robotic Systems (TAROS-05), 2005-09-12 - 2005-09-14.

Iravani, P., Johnson, J. H. and Rapanotti, L., 2005. Robotics and the Q-analysis of behaviour. In: 10th International Symposium on Artificial Life and Robotics (AROB), 2005-02-04 - 2005-02-06.

Johnson, J. and Iravani, P., 2004. Robotics in the emergence of complexity science. In: 9th International Symposium on Artificial Life and Robotics (AROB), 2004-01-28 - 2004-01-30.

Iravani, P., 2004. Behaviour-based architecture for abstract learning and control. In: Towards Autonomous Robotic Systems (TAROS-04), 2004-09-01.

Non-academic press

Iravani, P., Cleaver, D. and Du Bois, J., 2015. The design decisions behind Amazon’s strange-looking delivery drone. The Conversation

This list was generated on Thu Sep 21 23:53:09 2017 IST.