Papers
8
Total Citations
215
H-Index
5
About
Wafa Znegui is a dynamic researcher specializing in bipedal robotics, nonlinear dynamics, and walking stabilization, with a particular focus on the mathematical analysis of passive dynamic locomotion. Her most significant contribution lies in the development of explicit analytical expressions of the Poincaré map for the compass-gait biped robot — a landmark achievement that transformed how researchers model and analyze the complex cyclic behaviors inherent in passive walking systems. By deriving closed-form representations of both the classical and controlled Poincaré maps, Znegui provided the field with powerful tools for understanding and stabilizing the limit cycles that govern unactuated bipedal gait on inclined surfaces. Her 2019 paper on designing an explicit Poincaré map expression has accumulated 72 citations, reflecting its immediate and widespread adoption, while her stabilization-focused follow-up work earned 63 citations, underscoring her sustained influence. Across more than eight publications between 2019 and 2021, she has consistently advanced the intersection of hybrid nonlinear dynamics and robotic locomotion control, applying linearization techniques and Taylor series approximations to translate impulsive mechanical systems into tractable control frameworks. With nearly 215 cumulative citations, Znegui's body of work represents a foundational contribution to the mathematical modeling of biped robots.
Research Focus
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