211 citations · 214 across the 7 of their papers we have counts for
10 papers
Moving Horizon Estimation and Constrained Model Predictive Control for Balancing a Wheel-Legged Robot Under Unknown Disturbances
Haitham El-Hussieny
Wheel-legged robots balance on two wheels while using articulated legs to change height, absorb impacts, and cross uneven terrain. On hardware, the balance controller must rely on…
FENAS: A Few-Shot Meta-Ensembling Framework for Efficient Neural Architecture Search with Synergized Zero-Cost Proxies
Yifeng Mao, Yuze Feng, Yutong Shen +2
Efficient neural architecture search (NAS) requires accurate performance estimation under limited evaluation budgets. Existing zero-cost proxies (ZCPs) provide fast training-free s…
Residual Physics-Informed Neural Networks for High-Fidelity BLDC Motor Modeling
Haitham El-Hussieny
Accurate dynamics modeling of Brushless DC (BLDC) motors is fundamental to high-performance robotic joint control. This paper presents a Physics-Informed Neural Network (PINN) with…
Trajectory Tracking and Stabilization of Quadrotors Using Deep Koopman Model Predictive Control
Haitham El-Hussieny
This paper presents a data-driven control framework for quadrotor systems that integrates a deep Koopman operator with model predictive control (DK-MPC). The deep Koopman operator…
Development of a PPO-Reinforcement Learned Walking Tripedal Soft-Legged Robot using SOFA
Yomna Mokhtar, Tarek Shohdy, Abdallah A. Hassan +4
Rigid robots were extensively researched, whereas soft robotics remains an underexplored field. Utilizing soft-legged robots in performing tasks as a replacement for human beings i…
Toward Realistic Cinema: The State of the Art in Mechatronics for Modern Animatronic
Riham M. Hilal, Haitham El-Hussieny, Ayman A. Nada
The pursuit of realism in cinema has driven significant advancements in animatronics, where the integration of mechatronics, a multidisciplinary field that combines mechanical engi…
A Soft e-Textile Sensor for Enhanced Deep Learning-based Shape Sensing of Soft Continuum Robots
Eric Vincent Galeta, Ayman A. Nada, Sabah M. Ahmed +2
The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors beco…
Obstacle-Aware Navigation of Soft Growing Robots via Deep Reinforcement Learning
Haitham El-Hussieny, Ibrahim Hameed
Soft growing robots, are a type of robots that are designed to move and adapt to their environment in a similar way to how plants grow and move with potential applications where th…
State Estimation of Continuum Robots: A Nonlinear Constrained Moving Horizon Approach
Hend Abdelaziz, Ayman Nada, Hiroyuki Ishii +1
Continuum robots, made from flexible materials with continuous backbones, have several advantages over traditional rigid robots. Some of them are the ability to navigate through na…
Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration
Margaret M. Coad, Laura H. Blumenschein, Sadie Cutler +7
A new class of continuum robots has recently been explored, characterized by tip extension, significant length change, and directional control. Here, we call this class of robots "…