Hoda ElMaraghy

About

Hoda ElMaraghy is a distinguished robotics and automation researcher whose career has been shaped by a deep commitment to advancing intelligent control systems for robotic manipulators. Her work spans several interconnected domains, including flexible joint robot control, multi-robot coordination, autonomous exploration, and robotic assembly systems. ElMaraghy's most significant contributions lie in the development of sophisticated control frameworks for flexible joint robots. Her pioneering research on feedback linearization and inverse dynamics-based controllers established rigorous methods for achieving precise, simultaneous control of both position and contact force — a critical challenge in constrained robotic tasks. Her 1993 work on dynamic coordination of multiple robot arms further extended these principles to collaborative robotic systems, demonstrating exact feedback linearization for both rigid and flexible configurations. Beyond control theory, ElMaraghy made practical contributions to autonomous robotic systems, notably the Plan-N-Scan collision-free workspace mapping platform, which remains her most-cited work with 33 citations. Her early research on tolerance design for robotic assembly reflects a systems-level perspective that bridges theoretical rigor with manufacturing applications. Collectively, her body of work, accumulating over 150 citations, has meaningfully informed both academic understanding and practical implementation of advanced robotic control and automation systems.

Research Focus

Key Achievements

Top Papers

1. 1
   Plan-N-Scan: A Robotic System for Collision-Free Autonomous Exploration and Workspace Mapping

   33 citations · 1999
2. 2
   Inverse dynamics and feedforward controllers for high precision position/force tracking of flexible joint robots

   22 citations · 1994
3. 3
   Dynamic Coordination of Multiple Robot Arms With Flexible Joints

   20 citations · 1993
4. 4
   Feedback linearization control of flexible joint robots

   18 citations · 1992
5. 5
   Robust Linear Control of Flexible Joint Robot Systems

   16 citations · 2002
6. 6
   Robotic Manipulators State Observation Via One-Time Gain Switching

   12 citations · 2003
7. 7
   Design specification of parts dimensional tolerance for robotic assembly

   11 citations · 1988
8. 8
   Modelling and sequence generation for robotized mechanical assembly

   11 citations · 1992
9. 9
   Design of an optimal feedback linearizing-based controller for an experimental flexible-joint robot manipulator

   9 citations · 1999
10. 10
    Adaptive dynamic hybrid position and force control of flexible joint robot manipulators

    7 citations · 2005

Key Collaborators

Contact & Links