Papers
14
Total Citations
275
H-Index
8
About
Nahla Khraief is a leading researcher in bipedal robotics and intelligent control systems, whose work bridges nonlinear dynamics, chaos theory, and machine learning for autonomous locomotion and rehabilitation. Her seminal contributions include uncovering the period-three route to chaos in passive dynamic walking—a discovery that revealed how cyclic-fold bifurcations and boundary crises trigger the onset and destruction of chaotic gaits in compass-gait and torso-driven biped robots. These findings, published in her most-cited works (with 67 and 66 citations respectively), have fundamentally advanced the understanding of gait stability and control. Khraief also pioneered OGY-based chaos control for semi-passive dynamic walking, enabling stable locomotion in biped robots. Beyond walking robots, she has applied reinforcement learning and predictive PID control to trajectory generation and path planning for humanoid and mobile robots, and developed hybrid CNN-SVM architectures for classifying sEMG signals in upper-limb exoskeletons for rehabilitation. Her recent work on modified Q-learning and DQN for autonomous navigation demonstrates her continued impact. With over 260 total citations, Khraief’s research is essential reading for anyone studying nonlinear bipedal locomotion, chaos-based control, or intelligent robotic systems.
Research Focus
Key Achievements
Top Papers
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- 8Nearly passive dynamic walking of a biped robot11 citations · 2003
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