Fadi Alyousef Almasalmah — accepted AI-conference papers

2025

Passivity Filters for Bilateral Teleoperation with Variable Impedance Control

Fadi Alyousef Almasalmah, Thibault Poignonec, Hassan Omran, Chao Liu, Bernard Bayle

ICRA 2025

In robotic teleoperation, it is crucial to be able to dynamically adjust interactions with the environment. Drawing inspiration from human behavior during interactions, Variable Impedance Control (VIC) has been widely adopted to enhance robotic flexibility and adaptability. However, maintaining the

Cited by 0 Source ↗Scholar ↗

2023

Adaptive Robust Model Predictive Control for Bilateral Teleoperation

Fadi Alyousef Almasalmah, Hassan Omran, Chao Liu, Bernard Bayle

IROS 2023poster

In this work, we use recent developments in the field of adaptive robust Model Predictive Control (MPC) to build a controller for bilateral teleoperation systems. To guarantee robust constraint satisfaction, we incorporate polytopic tube controllers in the MPC design. In addition, we use online lear…

Cited by 2 Source ↗Scholar ↗