publications

scroll down for papers, patents, and theses

2026

  1. bokser2026.jpg
    System Design of Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot
    Benjamin Bokser, Shamel Fahmi, and Others  
    Sci. Robot., (accepted) 2026
    arXiv Video Website
  2. kim2026.jpg
    Flip Stunts on Bicycle Robots using Iterative Motion Imitation
    Jeonghwan Kim, Shamel Fahmi, Seungeun Rho, Sehoon Ha, and Gabriel Nelson
    In Proc. IEEE Int. Conf. Robot. Automat. (ICRA) , Jun 2026
    arXiv Website
  3. rho2026.jpg
    LineRides: Line-Guided Reinforcement Learning for Bicycle Robot Stunts
    Seungeun Rho, Shamel Fahmi, Jeonghwan Kim, Arianna Ilvonen, Sehoon Ha, and Gabriel Nelson
    IEEE Robot. Automat. Lett. (RA-L), May 2026
    arXiv Website

2023

  1. miller2023.jpg
    Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control
    A.J. Miller, Shamel Fahmi, Matthew Chignoli, and Sangbae Kim
    In Arxiv , Dec 2023
    arXiv
  2. fahmi2023.jpg
    ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots
    Shamel Fahmi, Victor Barasuol, Domingo Esteban, Octavio Villarreal, and Claudio Semini
    In IEEE Trans. Robot. (T-RO) , Apr 2023
    arXiv

2022

  1. On Slip Detection for Quadruped Robots
    Ylenia Nisticò, Shamel Fahmi, Lucia Pallottino, Claudio Semini, and Geoff Fink
    Sensors, Apr 2022
    Website

2021

  1. On State Estimation for Legged Locomotion over Soft Terrain
    Shamel Fahmi, Geoff Fink, and Claudio Semini
    IEEE Sensors Letters (L-SENS), Jan 2021
    arXiv

2020

  1. On the Influence of Body Velocity in Foothold Adaptation for Dynamic Legged Locomotion via CNNs
    Domingo Esteban, Octavio Villarreal, Shamel Fahmi, Claudio Semini, and Victor Barasuol
    In International Conference on Climbing and Walking Robots (CLAWAR) , Aug 2020
    Website
  2. fahmi2020.png
    STANCE: Locomotion Adaptation Over Soft Terrain
    Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, and Claudio Semini
    IEEE Transactions on Robotics (T-RO), Apr 2020
    arXiv

2019

  1. Brief introduction to the quadruped robot HyQReal
    Claudio Semini, Victor Barasuol, Michele Focchi, Chundri Boelens, Mohamed Emara, Salvatore Casella , and 6 more authors
    In Italian Conference on Robotics and Intelligent Machines (I-RIM) , Oct 2019
    Website
  2. fahmi2019.png
    Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain
    Shamel Fahmi, Carlos Mastalli, Michele Focchi, and Claudio Semini
    IEEE Robotics and Automation Letters (RA-L), Jul 2019
    arXiv

2018

  1. Inertial Properties in Haptic Devices: Non-Linear Inertia Shaping vs. Force Feedforward
    Shamel Fahmi, and Thomas Hulin
    In IFAC Symposium on Robot Control (SYROCO) , Aug 2018
    Website
  2. Respiratory Motion Estimation of the Liver with Abdominal Motion as a Surrogate
    Shamel Fahmi, Frank J. Simonis, and Momen Abayazid
    The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS), Jun 2018
    Website

patents

2026

  1. U.S. Patent 63/977290
    Shamel Fahmi, Jeonghwan Kim, Seungeun Rho, and Gabriel Nelson
    Feb 2026
  2. U.S. Patent 63/977296
    Shamel Fahmi, Jeonghwan Kim, Seungeun Rho, Arianna Ilvonen, and Gabriel Nelson
    Feb 2026

theses

2021

  1. On Terrain-Aware Locomotion for Legged Robots
    Shamel Fahmi
    Istituto Italiano di Tecnologia , Apr 2021
    Ph.D. Thesis
    arXiv

2017

  1. Respiratory motion estimation of the liver with abdominal motion as a surrogate: a supervised learning approach.
    Shamel Fahmi
    University of Twente , Aug 2017
    M.Sc. Thesis
    Website

2014

  1. Model Predictive Control for Multi-objective Cooperative Adaptive Cruise Control System.
    Shamel Fahmi
    RWTH Aachen University , Aug 2014
    B.Sc. Thesis