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Mohamed Elobaid

6 accepted papers

2026

Adaptive Non-Linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots

Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami +4
ICRA 2026poster

Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent simplification of the robot’s dynamics, were shown to endow robots with a step-adjustment capability in reaction to smal…

Cited by 0Source ↗PDF ↗Scholar ↗
2025

Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots

Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami +4
RA-L 2025

Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent simplification of the robot's dynamics, were shown to endow robots with a step-adjustment capability in reaction to smal

Cited by 10Source ↗Scholar ↗
2025

Online Nonlinear MPC for Multimodal Locomotion

Saverio Taliani, Gabriele Nava, Giuseppe L'Erario, Mohamed Elobaid, Giulio Romualdi, Daniele Pucci
ICRA 2025

Aerial humanoid robots can enhance the efficiency and safety of rescue operations in disaster scenarios. The control of such complex machines presents many challenges, for instance, the control of the different locomotion strategies and the stabilization of the transition maneuvers. In this article,

Cited by 1Source ↗Scholar ↗
2024

XBG: End-to-End Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration

Carlos Cardenas-Perez, Giulio Romualdi, Mohamed Elobaid, Stefano Dafarra, Giuseppe L'Erario, Silvio Traversaro +3
RA-L 2024

This letter presents XBG (eXteroceptive Behaviour Generation), a multimodal end-to-end Imitation Learning (IL) system for whole-body autonomous humanoid robots used in real-world Human-Robot Interaction (HRI) scenarios. The main contribution is an architecture for learning HRI behaviours using a dat

Cited by 6Source ↗code ↗Scholar ↗
2023

A Control Approach for Human-Robot Ergonomic Payload Lifting

Lorenzo Rapetti, Carlotta Sartore, Mohamed Elobaid, Yeshasvi Tirupachuri, Francesco Draicchio, Tomohiro Kawakami +2
ICRA 2023poster

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control approach for human-robot collaboration based on human monitoring…

Cited by 10Source ↗Scholar ↗
2023

Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization

Mohamed Elobaid, Giulio Romualdi, Gabriele Nava, Lorenzo Rapetti, Hosameldin Awadalla Omer Mohamed, Daniele Pucci
ICRA 2023poster

In this paper we consider the problem of allowing a humanoid robot that is subject to a persistent disturbance, in the form of a payload-carrying task, to follow given planned footsteps. To solve this problem, we combine an online nonlinear centroidal Model Predictive Controller - MPC with a contact…

Cited by 9Source ↗code ↗Scholar ↗