Haptics and Advanced Control
Safety in Teleoperation
Ensuring safety and transparency in force-feedback teleoperation through control, optimization, and learning.
My Role
PhD Researcher
Place
University of Strasbourg, ICube Lab
Duration
2021–2025
Experties
Experties
Control
MPC, Robust Control, Variable Impedance, Passivity
Optimization and Learning
Bayesian Optimization, Set-Membership Learning
Implementation
ROS2, EtherCAT, C++, Python
Domains
Haptics, Human–Robot Interaction, Teleoperation
Overview
Overview
Description
Description
This PhD focused on enhancing safety and performance in bilateral teleoperation systems with haptic feedback. The work developed optimization-based control and learning frameworks to guarantee stability, transparency, and constraint satisfaction during human–robot interaction.
Result Overview
Result Overview
Result Overview
Research Contributions
Research Contributions
A. Adaptive Robust MPC for Teleoperation (IROS 2023)
• Developed Tube Model Predictive Control to ensure constraint satisfaction under model uncertainty. • Combined robust control and learning-based model adaptation. 🎯 Impact: Improved robustness and safety in uncertain environments.
A. Adaptive Robust MPC for Teleoperation (IROS 2023)
• Developed Tube Model Predictive Control to ensure constraint satisfaction under model uncertainty. • Combined robust control and learning-based model adaptation. 🎯 Impact: Improved robustness and safety in uncertain environments.
A. Adaptive Robust MPC for Teleoperation (IROS 2023)
• Developed Tube Model Predictive Control to ensure constraint satisfaction under model uncertainty. • Combined robust control and learning-based model adaptation. 🎯 Impact: Improved robustness and safety in uncertain environments.
B. Auto-Tuning MPC with Bayesian Optimization (IFAC-CPHS 2024)
• Designed auto-tuning framework using contextual Bayesian optimization. • Achieved adaptive controller behavior across tasks without manual retuning. • Designed a 1-DoF system for experimental validation. 🎯 Impact: Enhanced transparency and reduced engineering effort.
B. Auto-Tuning MPC with Bayesian Optimization (IFAC-CPHS 2024)
• Designed auto-tuning framework using contextual Bayesian optimization. • Achieved adaptive controller behavior across tasks without manual retuning. • Designed a 1-DoF system for experimental validation. 🎯 Impact: Enhanced transparency and reduced engineering effort.
B. Auto-Tuning MPC with Bayesian Optimization (IFAC-CPHS 2024)
• Designed auto-tuning framework using contextual Bayesian optimization. • Achieved adaptive controller behavior across tasks without manual retuning. • Designed a 1-DoF system for experimental validation. 🎯 Impact: Enhanced transparency and reduced engineering effort.
C. Passivity Filters for Variable Impedance Control (VIC) (ICRA 2025)
• Proposed optimization-based passivity filters for haptic stability. • Combined multiple passivity criteria (TDP, PF, PSPM) and selected optimal one in real-time. • Impelemented realtime experiments on two Omega robots under ROS2. 🎯 Impact: Guaranteed stability while preserving realistic force feedback.
C. Passivity Filters for Variable Impedance Control (VIC) (ICRA 2025)
• Proposed optimization-based passivity filters for haptic stability. • Combined multiple passivity criteria (TDP, PF, PSPM) and selected optimal one in real-time. • Impelemented realtime experiments on two Omega robots under ROS2. 🎯 Impact: Guaranteed stability while preserving realistic force feedback.
C. Passivity Filters for Variable Impedance Control (VIC) (ICRA 2025)
• Proposed optimization-based passivity filters for haptic stability. • Combined multiple passivity criteria (TDP, PF, PSPM) and selected optimal one in real-time. • Impelemented realtime experiments on two Omega robots under ROS2. 🎯 Impact: Guaranteed stability while preserving realistic force feedback.
Publications
Publications
Find all the links on Google Scholar
Almasalmah et al., “Adaptive Robust MPC for Bilateral Teleoperation,” IROS 2023.
Almasalmah et al., “Auto-Tuning of MPC for Bilateral Teleoperation with Bayesian Optimization*,” IFAC-PapersOnLine, 2024.
Almasalmah et al., “Passivity Filters for Bilateral Teleoperation with Variable Impedance Control,” ICRA, 2025.
PhD Thesis: “Contributions to Safety and Performance in Force-Feedback Telerobotics”.
Almasalmah et al., “Adaptive Robust MPC for Bilateral Teleoperation,” IROS 2023.
Almasalmah et al., “Auto-Tuning of MPC for Bilateral Teleoperation with Bayesian Optimization*,” IFAC-PapersOnLine, 2024.
Almasalmah et al., “Passivity Filters for Bilateral Teleoperation with Variable Impedance Control,” ICRA, 2025.
PhD Thesis: “Contributions to Safety and Performance in Force-Feedback Telerobotics”.
Almasalmah et al., “Adaptive Robust MPC for Bilateral Teleoperation,” IROS 2023.
Almasalmah et al., “Auto-Tuning of MPC for Bilateral Teleoperation with Bayesian Optimization*,” IFAC-PapersOnLine, 2024.
Almasalmah et al., “Passivity Filters for Bilateral Teleoperation with Variable Impedance Control,” ICRA, 2025.
PhD Thesis: “Contributions to Safety and Performance in Force-Feedback Telerobotics”.
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