Publications

Publications sorted by year.

Publications are listed below and sorted by year.

2026

  1. robosoft2026_decoupling_torque_stiffness.jpg
    Decoupling torque and stiffness: A unified modeling and control framework for antagonistic artificial muscles
    Amirhossein Kazemipour and Robert K. Katzschmann
    In IEEE International Conference on Soft Robotics (RoboSoft)(Contribution: first author; decoupled torque-stiffness control with sub-millisecond computation.) , 2026
    Accepted
    arXiv PDF
  2. arxiv2026_ssm_soft_muscles.jpg
    Nonlinear spectral modeling and control of soft-robotic muscles from data
    Amirhossein Kazemipour, Leonardo Bettini, Robert K. Katzschmann, and 1 more author
    2026
    arXiv preprint: 2601.03247. Under review at Nature Communications. Equal contribution between first two authors.
    arXiv PDF

2025

  1. icra2025_stretchable_antagonistic_joint.jpg
    Stretchable electrohydraulic artificial muscle for full motion ranges in musculoskeletal antagonistic joints
    Amirhossein Kazemipour, Ronan Hinchet, and Robert K. Katzschmann
    In IEEE International Conference on Robotics and Automation (ICRA)(Contribution: first author; stretchable actuator design, fabrication, and joint-level validation.) , 2025
    DOI

2024

  1. pele_nature_leg_control.jpg
    Electrohydraulic musculoskeletal robotic leg for agile, adaptive, yet energy-efficient locomotion
    Thomas J. K. Buchner, Toshihiko Fukushima, Amirhossein Kazemipour, and 10 more authors
    Nature Communications(Contribution: co-author focused on real-time control implementation.) , 2024
    DOI
  2. scienceadv_low_voltage_hv_pcb.jpg
    Low-voltage electrohydraulic actuators for untethered robotics
    Stephan-Daniel Gravert, Elia Varini, Amirhossein Kazemipour, and 4 more authors
    Science Advances(Contribution: co-author focused on high-voltage electronics and PCB implementation.) , 2024
    DOI
  3. icra2024_self_sensing_shoulder.jpg
    Self-sensing feedback control of an electrohydraulic robotic shoulder
    Clemens C. Christoph, Amirhossein Kazemipour, Michel R. Vogt, and 2 more authors
    In IEEE International Conference on Robotics and Automation (ICRA), 2024
    DOI

2022

  1. ral2022_kinematic_hard_constraints.jpg
    Kinematic control of redundant robots with online handling of variable generalized hard constraints
    Amirhossein Kazemipour, Maram Khatib, Khaled Al Khudir, and 2 more authors
    IEEE Robotics and Automation Letters(Contribution: first author; real-time constrained kinematic control and hardware validation.) , 2022
    DOI
  2. ais2022_dynamic_task_space_soft_manipulators.jpg
    Dynamic task space control enables soft manipulators to perform real-world tasks
    Oliver Fischer, Yasunori Toshimitsu, Amirhossein Kazemipour, and 1 more author
    Advanced Intelligent Systems, 2022
    DOI
  3. icra2022_adaptive_sliding_mode_continuum.jpg
    Adaptive dynamic sliding mode control of soft continuum manipulators
    Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu, and 2 more authors
    In IEEE International Conference on Robotics and Automation (ICRA), 2022
    DOI

2021

  1. irim2021_motion_generalized_constraints.jpg
    Motion control of redundant robots with generalised inequality constraints
    Amirhossein Kazemipour, Maram Khatib, Khaled Al Khudir, and 1 more author
    In 3rd Italian Conference on Robotics and Intelligent Machines (I-RIM), 2021
    arXiv PDF

2020

  1. jmech2020_active_suspension_terminal_sliding_mode.jpg
    Adaptive fault-tolerant control for active suspension systems based on the terminal sliding mode approach
    Amirhossein Kazemipour and Alireza B. Novinzadeh
    Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2020
    DOI