Author

Haitham El-Hussieny

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Preprint Oct 2026

An Open MuJoCo Simulation Framework for a Quadrotor Carrying a Tendon-Driven Soft Continuum Arm

Combining aerial robots with soft continuum manipulators promises safe, compliant interaction with the environment, but the coupled dynamics of a free-flying base and a highly deformable, underactuated arm are difficult to study without a suitable simulator. This paper describes an open-source simulation framework, bui...

Haitham El-Hussieny · 0 citations

Open access Aug 2026

Robust Adaptive Koopman MPC Under Structured and Stochastic Uncertainty for Soft Continuum Robots

Soft continuum robots exhibit highly nonlinear and configuration-dependent dynamics, making accurate trajectory tracking challenging under model uncertainty and external disturbances. This paper presents an adaptive Koopman-based model predictive control (MPC) framework for a tendon-driven soft continuum robot and eval...

Ali Ashraf, Ayman A. Nada, Hiroyuki Ishii et al. · Robotics · 0 citations