Ahmad Gazar — accepted AI-conference papers

2026

Impact-Robust Posture Optimization for Aerial Manipulation

Amr Afifi, Ahmad Gazar, Javier Alonso-Mora, Paolo Robuffo Giordano, Antonio Franchi

ICRA 2026poster

We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies the variation between pre- and post-impact velocities. By find…

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2023

On the Use of Torque Measurement in Centroidal State Estimation

Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella, Maximilien Naveau, Ludovic Righetti, Maren Bennewitz +1

ICRA 2023poster

State-of-the-art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint torques from motor currents. In either case, this sensor modality is seldom used in state estimation. In this paper, we…

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