Dalia M. Mahfouz — accepted AI-conference papers

2026

Adaptive Physical Human–Robot Interaction Via a Passivity-Aware Model Predictive Variable Admittance Control

Dalia M. Mahfouz, Paolo Di Lillo, Omar M. Shehata, Elsayed Morgan, Filippo Arrichiello

ICRA 2026poster

Physical Human–Robot Interaction (pHRI) requires control frameworks that balance accuracy, compliance, and safety under variable human behaviors. This paper proposes a novel Model Predictive Variable Admittance (MPVA) framework that integrates trajectory tracking, interaction force directionality, a…

Cited by 0 Scholar ↗

2026

Passivity-Constrained Model Predictive Variable Admittance Control for Safe and Adaptive Physical Human-Robot Interaction

Dalia M. Mahfouz, Paolo Di Lillo, Omar M. Shehata, Elsayed I. Morgan, Filippo Arrichiello

RA-L 2026

Physical Human–Robot Interaction (pHRI) occurs in industrial, medical, domestic, search and rescue, and other domains, requiring controllers that balance safety and performance for effective collaboration. In this context, this paper presents a real-time novel Model Predictive Variable Admittance (M

Cited by 0 Source ↗Scholar ↗