The full BibTeX citation can be found here.

Peer-reviewed Publications


On State Estimation for Legged Locomotion over Soft Terrain
S. Fahmi, G. Fink, and C. Semini
IEEE Sensors Letters (L-SENS), vol. 5, no. 1, pp. 1–4, Jan. 2021.


On the influence of body velocity in foothold adaptation for dynamic legged locomotion via CNNs
D. Esteban, O. Villarreal, S. Fahmi, C. Semini, and V. Barasuol
International Conference on Climbing and Walking Robots (CLAWAR), Moscow, Russia, Aug. 2020, pp. 353-360.

STANCE: Locomotion Adaptation over Soft Terrain
S. Fahmi, M. Focchi, A. Radulescu, G. Fink, V. Barasuol, and C. Semini
IEEE Transactions on Robotics (T-RO), vol. 36, no. 2, pp. 443-457, Apr. 2020.


Brief introduction to the quadruped robot HyQReal
C. Semini, V. Barasuol, M. Focchi, C. Boelens, M. Emara, S. Casella, O. Villarreal, R. Orsolino, G. Fink, S. Fahmi, G. Medrano-Cerda, and D. G. Caldwell
Italian Conference on Robotics and Intelligent Machines (I-RIM), Rome, Oct. 2019, pp. 1{2.

Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain.
S. Fahmi, C. Mastalli, M. Focchi, and C. Semini
IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 3, pp. 2553-2560, Jul. 2019.


Inertial Properties in Haptic Devices: Non-Linear Inertia Shaping vs. Force Feedforward.
S. Fahmi and T. Hulin
IFAC Symposium on Robot Control (SYROCO), Budapest, Hungary, Aug. 2018, pp. 1-6.

Respiratory Motion Estimation of the Liver with Abdominal Motion as a Surrogate.
S. Fahmi, F. J. Simonis, and M. Abayazid
International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS), vol. 14, no. 6, pp. 1-11, Jun. 2018.


Respiratory motion estimation of the liver with abdominal motion as a surrogate: a supervised learning approach.
Shamel Fahmi
Robotics and Mechatronics (RaM) Lab, University of Twente, 2017

Model Predictive Control for Multi-objective Cooperative Adaptive Cruise Control System.
Shamel Fahmi
Institute of Automatic Control (IRT), RWTH Aachen University, 2014



Challenges in Soft Terrain Adaptation for HyQ
S. Fahmi, M. Focchi, A. Radulescu, G. Fink, V. Barasuol, and C. Semini
Dynamic Walking, Hawley, PA, USA, May 2020.


Soft Terrain Adaptation for HyQ
S. Fahmi
Robotics: Science and Systems (RSS) Workshop on Numerical Optimization for Online Multi-Contact Motion Planning and Control, Freiburg im Breisgau, Germany., Jun. 2019.


Respiratory Motion Estimation of the Liver using Supervised Learning
S. Fahmi
Delft Workshop on Robot Learning, Delft, the Netherlands, Oct. 2017.