Dhayaa Khudher
Papers
4
Total Citations
38
H-Index
3
About
Dhayaa Khudher is a robotics researcher whose work focuses on the intersection of legged locomotion, manipulation, and humanitarian technology. Her primary research areas include inverse kinematics control, operational space control, and the application of soft robotics and adaptive neuro-fuzzy systems for advanced robotic arms. Khudher’s most significant contributions center on developing control strategies for hexapod robots designed for humanitarian demining. Her most cited work, "Quadratic programming for inverse kinematics control of a hexapod robot with inequality constraints" (2016, 18 citations), introduces a novel QP-based method to resolve kinematic redundancy, enabling stable and precise leg motion over uneven terrain. She further advanced this field by proposing an operational space inverse dynamics controller to maintain center-of-gravity stability during demining operations. Khudher also made notable strides in arm design with her 2021 paper on an ambidextrous robot arm, which uses a Multiple Adaptive Neuro-Fuzzy Inference System to control a hybrid actuation system combining Pneumatic Artificial Muscles and electric motors, effectively doubling the arm’s range of motion. Her work on continuous landmine scanning with a legged robot and manipulator arm demonstrates a practical, integrated approach to field robotics, directly addressing the challenges of detecting unexploded ordnance in rough, hazardous environments.
Research Focus
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Top Papers
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