76 citations · 144 across the 12 of their papers we have counts for
14 papers
Fingers as Legs: Learning Self-Supported Locomotion and Manipulation with an Anthropomorphic Hand
Amirhossein Kazemipour, Hehui Zheng, Robert Katzschmann
A walking robotic hand must use the same fingers to move its body, support its weight, and interact with the environment. We show how an anthropomorphic hand can learn these skills…
Learning Actuator-Aware Spectral Submanifolds for Precise Control of Continuum Robots
Paul Leonard Wolff, Hugo Buurmeijer, Luis Pabon +6
Continuum robots exhibit high-dimensional, nonlinear dynamics which are often coupled with their actuation mechanism. Spectral submanifold (SSM) reduction has emerged as a leading…
A Sensorless, Inherently Compliant Anthropomorphic Musculoskeletal Hand Driven by Electrohydraulic Actuators
Misato Sonoda, Ronan Hinchet, Amirhossein Kazemipour +2
Robotic manipulation in unstructured environments requires end-effectors that combine kinematic dexterity with physical compliance. While traditional rigid hands rely on complex ex…
Nonlinear Spectral Modeling and Control of Soft-Robotic Muscles from Data
Leonardo Bettini, Amirhossein Kazemipour, Robert K. Katzschmann +1
Artificial muscles are essential for compliant musculoskeletal robotics but complicate control due to nonlinear multiphysics dynamics. Hydraulically amplified electrostatic (HASEL)…
Decoupling Torque and Stiffness: A Unified Modeling and Control Framework for Antagonistic Artificial Muscles
Amirhossein Kazemipour, Robert K. Katzschmann
Antagonistic artificial muscles can decouple joint torque and stiffness, but contact transients often degrade this independence. We present a unified real-time framework applicable…
Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges in Musculoskeletal Antagonistic Joints
Amirhossein Kazemipour, Ronan Hinchet, Robert K. Katzschmann
Artificial muscles play a crucial role in musculoskeletal robotics and prosthetics to approximate the force-generating functionality of biological muscle. However, current artifici…
High-Frequency Capacitive Sensing for Electrohydraulic Soft Actuators
Michel R. Vogt, Maximilian Eberlein, Clemens C. Christoph +6
The need for compliant and proprioceptive actuators has grown more evident in pursuing more adaptable and versatile robotic systems. Hydraulically Amplified Self-Healing Electrosta…
Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder
Clemens C. Christoph, Amirhossein Kazemipour, Michel R. Vogt +2
The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic…
Real Robot Challenge 2022: Learning Dexterous Manipulation from Offline Data in the Real World
Nico Gürtler, Felix Widmaier, Cansu Sancaktar +21
Experimentation on real robots is demanding in terms of time and costs. For this reason, a large part of the reinforcement learning (RL) community uses simulators to develop and be…
Low Voltage Electrohydraulic Actuators for Untethered Robotics
Stephan-Daniel Gravert, Elia Varini, Amirhossein Kazemipour +4
Rigid robots can be precise in repetitive tasks, but struggle in unstructured environments. Nature's versatility in such environments inspires researchers to develop biomimetic rob…
Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints
Amirhossein Kazemipour, Maram Khatib, Khaled Al Khudir +2
We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously pr…
Dynamic Task Space Control Enables Soft Manipulators to Perform Real-World Tasks
Oliver Fischer, Yasunori Toshimitsu, Amirhossein Kazemipour +1
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters…
Motion Control of Redundant Robots with Generalised Inequality Constraints
Amirhossein Kazemipour, Maram Khatib, Khaled Al Khudir +1
We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy resolution at the velocity level. In addition to hard bounds on joint space motion…
Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators
Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu +2
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based contr…