Amirhossein Kazemipour

I build robotic systems from actuator design to closed-loop control

My contributions have been published in IEEE RA-L and ICRA, IROS, Nature Communications, and Science Advances, with a focus on end-to-end execution from concept to on-hardware validation.

Hardware: actuator architecture, compliant mechanisms, fabrication workflows, and integration. Examples: stretchable antagonistic muscle and PELE leg integration.
Electronics: high-voltage drivers, PCB design (Altium), sensing interfaces, and safety constraints. Example: high-voltage driver electronics and PCB design.
Control: nonlinear modeling, real-time C++ pipelines, and closed-loop hardware validation. Examples: PELE control, adaptive continuum control, SSM data-driven control, and hard-constraint kinematics.

PELE musculoskeletal leg: 500 Hz multithreaded C++ cascaded control, >5 Hz gait, up to 40% jump height, and cost of transport (COT) down to 0.73 (paper).
Stretchable antagonistic joint muscle: 58% higher strain than pouch-count-matched baselines (paper).
Adaptive continuum control: 38% better tracking than inverse-dynamics baselines under payload variation (paper).
SSM data-driven muscle control: 69% RMS tracking-error reduction versus feedback-only baseline (arXiv:2601.03247).

End-to-end integration of compliant actuation, high-voltage drive, sensing, and 500 Hz real-time C++ control.

Actuator architecture, fabrication, and antagonistic integration with a measured 58% strain increase versus baseline.

Driver architecture and PCB implementation in Altium for untethered electrohydraulic robotic platforms.

First-author adaptive dynamic sliding mode control with 38% better tracking than inverse-dynamics baselines.

Co-first-author data-driven reduced-order control with 69% RMS tracking-error reduction versus feedback-only baseline.

First-author real-time generalized SNS framework with online hard joint and Cartesian constraints.

All projects are shown above. Open any project card to see details, media, and paper links.