1. B. Hammoud, A. Jordana, L. Righetti "iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations." Submitted, Under Review. [link]

  2. B. Hammoud, L. Olivieri, L. Righetti, J. Carpentier, A. Del Prete "Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts." Submitted, Under Review. [link]

  3. B. Hammoud, M. Khadiv, L. Righetti "Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control." IEEE Robotics and Automation Letters 6.3 (2021): 4766-4773. [link]

  4. S. Bechtle, B. Hammoud, A. Rai, F. Meier, L. Righetti "Leveraging Forward Model Prediction Error for Learning Control."  International Conference on Robotics and Automation ICRA 2021. [link]


  1. C. Mastalli, et al. "Crocoddyl: An efficient and versatile framework for multi-contact optimal control." International Conference on Robotics and Automation ICRA 2020. [link]

  2. M. Wüthrich, et al. "TriFinger: An Open-Source Robot for Learning Dexterity." Conference on Robot Learning, CoRL (2020). [link]


  1. B. Hammoud, S. Bazzi, E. Shammas, M. Oliveira "Planar time-optimal paths for asymmetric vehicles in constant flows." The International Journal of Robotics Research 37.10 (2018): 1168-1183. [link]


  1. B. Hammoud, E. Shammas "Planar Time Optimal Paths for Non-Symmetric Vehicles in Constant Flows." Robotics: Science and Systems. 2016. [link]