Now

Last updated: September 2026

• Working on model predictive control and contact-aware control for a quadrupedal robot platform at Fasta Robotics.
• Wrapping up our paper on An Energy Conservation Approach to Variable Stiffness Single Leg Jumping, presented at ICEE 2026 — adding the DOI once it is indexed.
• Teaching labs for Linear Control, Industrial Control, and Optimal Control at Sharif University of Technology.
• Keeping this site’s notes alive: control theory, estimation, robotics, and the math connecting them.

Also: chess.

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What is a “now” page? A commitment to describe what you’re doing today, instead of what you did years ago. See nownownow.com.