He is also a guest researcher at the Locomotion Laboratory, TU Darmstadt. He studied control engineering at Sharif University of Technology and University of Tehran (UT) for his bachelor and master, respectively. He started working on bipedal robot control in his PhD at University of Tehran, from 2007 and more on bio-inspired control approaches, since he entered lauflabor in 2011. His current research interests include bio-inspired locomotion control based on conceptual and analytic approaches, postural stability and the application of dynamical systems and nonlinear control in hybrid systems like locomotion