Tehran, Iran
M.Sc. Mechanical Engineering — Applied Design
Robot modelling · Nonlinear control · Simulation
Current research: residual learning for cable-driven robotics and friction-aware constrained MPC.
Mechanical Engineering M.Sc. · Robotics, Control, and Simulation
I am Mohammad Hossein Fakouri, a Mechanical Engineering M.Sc. graduate in Applied Design working on robot and mechanical-system modelling, nonlinear and model-based control, learning-enhanced control, and simulation under uncertainty.
My M.Sc. research studied a cable-driven lower-limb rehabilitation robot. I developed the robot model and simulation workflow, used Computed Torque Control as the nominal controller, and added a bounded residual DDPG policy to compensate for disturbances and parameter mismatch while keeping the model-based controller responsible for the main command.
A second research line focuses on friction-aware constrained MPC for vehicle path following and stability under reduced tire-force capacity. I also maintain smaller robotics projects in serial-robot kinematics, SCARA modelling and control, ROS 2 trajectory tracking, mobile-robot planning, and engineering simulation.
This website collects my CV, research outputs, reproducible code, project notes, and technical writing on robotics, control, and robot learning.
latest posts
selected publications
- arXiv Residual Deep Reinforcement Learning-Based Computed Torque Control for a Cable-Driven Lower-Limb Rehabilitation Robot under Disturbances and Parametric Uncertainties
Mohammad-Hossein Fakouri, Ali Keymasi-Khalaji · arXiv preprint; under review at Expert Systems with Applications , 2026 - Pre-submission Friction-Aware Linear MPC with Lateral-Slip Constraint Back-Off for Vehicle Stability and Path Following
Mohammad-Hossein Fakouri, Mohsen Ghaffari · Journal-neutral master manuscript complete; pre-submission metadata and target-journal formatting remaining , 2026