Yasser G. Alqaham

Papers

Total Citations

H-Index

About

Yasser G. Alqaham is an emerging robotics researcher whose work centers on legged locomotion, optimal control, and the biomechanics of quadrupedal movement. His research tackles some of the most persistent challenges in robotics: achieving precise, efficient, and dynamic motion in systems characterized by high degrees of freedom and complex nonlinear dynamics. Alqaham's most cited work, "Practice Makes Perfect" (2023), introduces an iterative optimization-based approach to trajectory tracking for legged robots, addressing the compounding difficulties of unmodeled dynamics and environmental disturbances. Complementing this, his investigations into asymmetrical gaits — including bounding and galloping — challenge the field's conventional reliance on symmetrical locomotion patterns like trotting. His 2024 studies demonstrate that energy-optimal asymmetrical gaits, long observed in biological counterparts, hold significant promise for enhancing both speed and efficiency in robotic platforms. Particularly notable is his exploration of natural body oscillations, showing that allowing torso pitching rather than enforcing rigid posture can meaningfully improve locomotion performance. Though early in his career — with cumulative citations already reaching double digits across just three papers — Alqaham's research signals a thoughtful, biologically-inspired perspective poised to make meaningful contributions to the robotics community.