Papers
8
Total Citations
230
H-Index
6
About
D. Djoudi is a robotics researcher whose work has made significant contributions to the field of bipedal locomotion and robot control, with a particular focus on stability, motion planning, and dynamic walking. His research centers on underactuated biped robots, zero moment point (ZMP) regulation, and the development of robust control strategies for stable humanoid walking. Djoudi's most influential contribution, "Stable Bipedal Walking With Foot Rotation Through Direct Regulation of the Zero Moment Point" (2008), has garnered 95 citations and addresses a fundamental challenge in bipedal robotics: preventing unintended foot rotation during locomotion by simultaneously regulating ZMP and joint positions. His 2004 work on path-tracking control for underactuated biped robots (64 citations) further established his expertise in geometric motion control for five-link planar systems. Complementing these studies, his research on optimal reference motions for walking (34 citations) introduced efficient cyclic gait generation strategies for robots lacking actuated ankles. Beyond bipedal locomotion, Djoudi has explored nonlinear predictive control for robotic manipulators, demonstrating a broader interest in advanced robot control theory. Across his body of work, totaling over 230 citations, he has consistently advanced our understanding of stability analysis and practical control design for complex robotic systems.
Research Focus
Key Achievements
Top Papers
- 1
- 2Tracking a joint path for the walk of an underactuated biped64 citations · 2004
- 3Optimal Reference Motions for Walking of a Biped Robot34 citations · 2006
- 4Stability analysis of a walk of a biped with control of the ZMP11 citations · 2005
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