Siamak Ghorbani Faal
PhD candidate

Soft Robotics Laboratory
Robotics Engineering
Worcester Polytechnic Institute
Worcester, MA, USA. 01609

sghorbanifaal [at]

+1 (508) 831 - 5355

Siamak Ghorbani Faal


I am a PhD student in robotics engineering program at Worcester Polytechnic Institute (WPI), and a member of Soft Robotics Laboratory. I received my BSc and MSc in Mechatronics from Sharif University of Technology, Iran, in February 2009 and January 2012, respectively. During my undergraduate and graduate studies, I was ranked the second top student among all the Mechatronics students in Sharif University of Technology, International campus, classes of 2004 and 2009. In Aug. 2012, I joined WPI's Robotics Program. Since then, as a teaching assistant, I am a member of Academic and Research Computing (ARC) group, and responsible with MATLAB, SolidWorks and LabVIEW training sessions and personalize assistance for students with different projects. On April 2015, I was recognized for outstanding support and engagement with students at the annual Faculty Honors Convocation and received the Teaching Assistant of the Year Award.


My PhD thesis is focused on a combined path planning and control algorithm that utilizes non-linear dynamic of systems to perform maneuvers that are not achievable with conventional controllers. The algorithm utilizes randomly evolving trees to find a possible path between the initial and the goal state of the system by considering all the limitations imposed on the system dynamics. The discovered path is then post-processed to obtain a locally optimal state trajectory that conveys the system to the goal state. The proposed algorithm can be utilized in different areas that require control or planning of a dynamic system. Examples include, but not limited to: Highly aggressive maneuvers in aerial vehicles such as bird-like purging, take-off and obstacle avoidance; Harvesting ocean energy to improve the efficiency and maneuverability of the underwater vehicles; Dynamic stability and gait control of legged robots; Protein and RNA folding; Trajectory planning for soft/continuum actuators and manipulators. I am also leading two teams of MSc and BSc students with projects related to aerial vehicles and collective behaviors of a swarm of ant-like robots. The aerial vehicles research focuses on design and fabrication of different aerial platforms using printable fabrication techniques in order to reduce the total fabrication cost and time. The objective of the swarm project is to reproduce the collective behavior of ants. Currently our focus is on collective manipulation of an object without any priori information and inter-agent communications. In general my research interests include:

  • Modelling and control of dynamic systems
  • Path and motion planning algorithms
  • Autonomous systems
  • Legged locomotion and bio-inspired robotics
  • Artificial intelligence
  • Analytical dynamics
  • Embedded system design


As my first internship, I joined the logistic team at TAM Company in Tehran, Iran. Our project was to design an automated conveyer system to increase the fabrication efficiency of a car assembly line of Iran Khodro Company, Tehran, Iran. After successfully finishing this project, I joined Talashgaran Atabak Co. (October 2008 - August 2012), as an intern and later on I continued my career in the same company as the head of mechatronic team. Wherein I was responsible to lead a design team with focuses on design and implementation of smart home components and smart lightening systems. Currently I am a member of Academic and Research Computing (ARC) group at WPI, and responsible with MATLAB, SolidWorks and LabVIEW training sessions. So far I have instructed more than 1000 students on introductory and advanced topics. In parallel to the training sessions, I help students from different majors with their academic projects.

More Information

You can find more information about me in my curriculum vitae or at my LinkedIn , Google+ and Facebook profiles. Please feel free to contact me for any discussions on new project ideas, research projects, questions, etc.

Page responsible: Siamak Ghorbani Faal
Last updated: December 11, 2015