Wisama Khalil
Centre National de la Recherche Scientifique, Laboratoire des Sciences du Numérique de Nantes, Institut de Recherche en Génie Civil et Mécanique, École Nationale Supérieure de Mécanique et d'Aérotechnique, École Centrale de Nantes, Nantes Université, Laboratoire de Thermique et Energie de Nantes, École Normale Supérieure - PSL
Papers
119
Total Citations
4,799
H-Index
35
About
Wisama Khalil is a pioneering robotics researcher whose work has fundamentally shaped how engineers model, identify, and control robotic systems. His research spans robot kinematics, dynamic modeling, parameter identification, and parallel robot mechanics — areas in which he has produced some of the most enduring contributions in the field. Khalil's early landmark paper introducing an extended geometric notation for open and closed-loop robots (1986, 392 citations) resolved critical ambiguities in the classical Denavit-Hartenberg framework, making it applicable to far more complex robotic structures. His complementary work on determining minimum sets of inertial parameters (1990, 391 citations; 2003, 116 citations) dramatically reduced computational costs in dynamic modeling, a breakthrough with lasting practical significance for real-time robot control. His development of exciting trajectories for parameter identification (1992, 300 citations) further advanced the rigor of experimental robot calibration. Beyond serial robots, Khalil extended his methods to parallel platforms, delivering closed-form dynamic models for Gough-Stewart robots (2004, 159 citations) and self-calibration techniques for parallel systems (1999, 148 citations). His comprehensive textbook, *Modeling, Identification & Control of Robots* (2001), synthesized much of this work into an authoritative reference for the robotics community. With over 2,300 citations across these contributions alone, Khalil's influence on systematic robot modeling remains profound and enduring.
Research Focus
Key Achievements
Top Papers
- 1A new geometric notation for open and closed-loop robots392 citations · 1986
- 2Direct calculation of minimum set of inertial parameters of serial robots391 citations · 1990
- 3
- 4Modeling, Identification & Control of Robots190 citations · 2001
- 5On the identification of the inertial parameters of robots173 citations · 2003
- 6
- 7Inverse and Direct Dynamic Modeling of Gough–Stewart Robots159 citations · 2004
- 8
- 9Self calibration of Stewart-Gough parallel robots without extra sensors148 citations · 1999
- 10A direct determination of minimum inertial parameters of robots116 citations · 2003