Inna Sharf

Inna Sharf
Contact Information

Macdonald Engineering Building, Room 146


Email address: 
inna.sharf [at]

Please note: Professor Sharf is not accepting any new graduate students for 2021. Please do not email her regarding graduate student supervision until further notice.


Ph.D. University of Toronto
B.ASc. University of Toronto


MECH 210: Mechanics 1 (2 Credits)
MECH 220: Mechanics 2 (4 Credits)
MECH 403D1: Thesis (Honours) (3 Credits)
MECH 403D2: Thesis (Honours) (3 Credits)
MECH 404: Honours Thesis 2 (3 Credits)
MECH 412: System Dynamics and Control (3 Credits)
MECH 513: Control Systems (3 Credits)
MECH 572: Introduction to Robotics (3 Credits)

Research areas: 
Dynamics and Control
Selected publications: 
  • Sagnières, L. B. M. and I. Sharf, "Stochastic modeling of hypervelocity impacts in attitude propagation of space debris,'' Advances in Space Research, doi:10.1016/j.asr.2016.11.030, Vol. 59, pp. 1128-1143, 2017.
  • St-Onge, D., P.-Y. Breches, I. Sharf, N. Reeves, I. Rekleitis, P. Abouzakhm, Y. Girdhar, A. Harmat, G. Dudek and P. Giguere. "Control, Localization and Human Interaction with an Autonomous Lighter-than-air Performer,'' Robotics and Autonomous Systems, Vol. 88, pp. 165-186, 2017.
  • Botta, E.M., I. Sharf, and A.K. Misra. "Contact Dynamics Modeling and Simulation of Tether Nets for Space-Debris Capture,'' Journal of Guidance, Control, and Dynamics,doi:10.2514/1.G000677, Vol. 40, No. 1, pp. 110-123, 2017.
  • Harmat A., Trentini M. and I. Sharf, "Multi-Camera Tracking and Mapping for Unmanned Aerial Vehicles in Unstructured Environments," Journal of Intelligent and Robotic Systems, Vol. 78, No. 2, pp. 291-317, 2015.
  • Persson, S.M. and I. Sharf, "Sampling-based A* Algorithm for Robot Path-planning,'' International Journal of Robotics Research, Vol. 33, pp. 1683-1708, 2014.
  • Zarrouk, D., I. Sharf and M. Shoham, “Analysis of Worm-like Robotic Locomotion on Compliant Surfaces,” to appear in IEEE Transactions on Biomedical Engineering, 2011.
  • Sharf, I., A. Wolf and MB Rubin, “Arithmetic and Geometric Solutions for Average Rigid-body Rotation,” Mechanism and Machine Theory, Vol. 45, No. 9, pp. 1239-1251, 2010.
  • Smith, J.A., I. Poulakakis, M. Trentini and I. Sharf, “Bounding with Active Wheels and Liftoff Angle Velocity Adjustment,” International Journal of Robotics Research, Vol. 29, No. 4, pp. 414-427, 2010.
  • Verscheure, D., I. Sharf, H. Bruyninckx, J. Swevers and J. De Schutter, “Identification of Contact Dynamics Parameters from Stiff Multi-point Contact Robotic Operations,” International Journal of Robotics Research, Vol. 29, No. 4, pp. 367-385, 2010.
  • Zhang, Y. and I. Sharf, “Validation of Nonlinear Viscoelastic Contact Force Models for Low Speed Impact,” ASME Journal of Applied Mechanics, Vol. 76, No. 5, p. 051002 (12 pp.), 2009.
  • Weber, M., K. Patel, O. Ma and I. Sharf, “Identification of Contact Dynamics Model Parameters from Constrained Robotic Operations,” ASME Journal of Dynamic Systems, Measurement and Control, Vol. 128, No. 2, pp. 307-318, 2006.
  • Erickson, D., M. Weber and I. Sharf, "Contact Stiffness and Damping Estimation for Robotic Systems," IEEE Transactions on Robotics and Automation, Vol. 2, No. 1, pp. 41-57, 2003.
  • G. Gilardi and I. Sharf. "Literature Survey of Contact Dynamics Modelling." To appear in Mechanism and Machine Theory, 2001.
  • Van Vliet, J., I. Sharf and O. Ma. "Experimental Validation of Contact Dynamics Simulation of Constrained Robotic Tasks." International Journal of Robotics Research, Vol. 19, No. 12, pp. 1203-1217, 2000.
  • Sharf, I. "Active Damping of a Large Flexible Manipulator with a Short-Reach Robot." ASME Journal of Dynamic Systems Measurement and Control, Vol. 118, pp. 704-713, 1996.
  • Damaren, C., and I. Sharf. "Simulation of Flexible-Link Manipulators with Inertial and Geometric Nonlinearities." ASME Journal of Dynamic Systems Measurement and Control, Vol. 117, pp. 74-87, 1995.

 Conference Presentations/Papers

  • Sharf, I., B. Laumonier, M. Persson, J. Robert, “Control of a Fully-actuated Airship for Satellite Emulation,” Video Proceedings of IEEE International Conference on Robotics and Automation, ICRA2008, Pasadena, CA, May 19-23, 2008.
  • Zhang, Y. and I. Sharf, "Compliant Force Modeling for Impact Analysis," Proc. ASME Design Engineering Technical Conferences, DETC2002/MECH-34357, Best Paper Award Competition Finalist, pp. 1-10, Salt Lake City, Utah, September 28 - October 2, 2004.
  • Sharf, I. and D. Crymble, "Robot/Airship Facility for Autonomous Robotic Grasping of Objects in Space," poster presentation and paper at 16th IFAC Symposium on Automatic Control in Aerospace, Saint-Petersburg, Russia, June 14-18, 2004.
Current research: 
  • Long-term orbit and attitude propagation of space debris
  • Active space debris removal strategies: robotic capture and post-capture maneuvering and stabilization
  • Active space debris removal strategies: dynamics modeling and simulation of tethered-net debris capture
  • Robotics and automation of tree-harvesting machinery: most recent project in collaboration with FPInnovation
  • Unmanned aerial vehicles (UAVs): dynamics and  control, state estimation, localization, motion planning
  • Collision recovery for small UAVs
  • Guidance, navigation, and control of indoor airships for artistic applications and aerial architecture

For More Information Regarding Her Research Projects

Areas of expertise: 

Space debris: attitude propagation, capture, debris removal and mission planning for active debris removal

Unmanned aerial vehicles: dynamics, navigation and control of small UAVs (quadrotors, indoor airships)

Multibody systems: contact dynamics, modeling, simulation, parameter identification.

Dynamics, control and motion planning of mechatronic systems


Professor Sharf is currently not accepting new graduate students. Please do not email her regarding graduate studies until further notice.

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