1. B. Hammoud, A. Jordana, L. Righetti "iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations." American Control Conference 2022. [link]

  2. B. Hammoud, L. Olivieri, L. Righetti, J. Carpentier, A. Del Prete "Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts." Journal of Multibody System Dynamics 2022. [link]

  3. A. Jordana, B. Hammoud, J. Carpentier, L. Righetti "Stagewise Newton Method for Dynamic Game Control with Imperfect State Observation." Submitted, Under Review


  1. 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]

  2. 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]