Shamel Fahmi
Papers
7
Total Citations
255
H-Index
4
About
Shamel Fahmi is a robotics researcher whose work is reshaping how legged robots navigate the world. His core research areas span whole-body control, terrain-aware locomotion, and state estimation for quadruped robots, with a particular focus on enabling stable movement across challenging and deformable surfaces. Fahmi’s most influential contribution is his passive whole-body control framework, which allows quadruped robots to achieve dynamic locomotion while compliantly balancing their trunks—a breakthrough validated experimentally over challenging terrain and cited over 130 times. He further advanced the field with STANCE, a whole-body control approach specifically designed for soft terrain, addressing the critical gap where traditional frameworks fail due to unmodeled contact dynamics. His vision-based planning strategy, ViTAL, integrates perception with foothold selection and pose adaptation, earning recognition for its practical impact. Fahmi has also explored slip detection and the influence of body velocity on foothold adaptation, demonstrating a systematic approach to improving robot autonomy. Most recently, his work on MIMOC bridges model-based optimal control with reinforcement learning, enabling agile locomotion through motion imitation. With over 250 total citations, Fahmi is a rising figure in legged robotics, pushing the boundaries of what these machines can achieve in unstructured environments.
Research Focus
Key Achievements
Top Papers
- 1
- 2STANCE: Locomotion Adaptation Over Soft Terrain68 citations · 2020
- 3ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots33 citations · 2022
- 4On Slip Detection for Quadruped Robots15 citations · 2022
- 5
- 6On State Estimation for Legged Locomotion Over Soft Terrain2 citations · 2021
- 7