Walid Arouri

Papers

Total Citations

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About

Walid Arouri is a researcher whose work centers on the modeling and control of bipedal locomotion, with a particular focus on the application of switched systems theory. His most-cited paper, "Switched Control for the Walking of a Compass Gait Biped Robot" (2014), introduces a novel approach that linearizes the complex, nonlinear dynamics of a compass-gait biped robot using Lagrange’s formalism. By constructing a set of local linear models, Arouri enables the application of switched control strategies to stabilize and coordinate the robot’s gait. This work addresses a fundamental challenge in robotics: achieving stable, efficient walking in underactuated systems. While his citation count (3) reflects a niche but specialized contribution, his approach offers a rigorous mathematical framework that bridges control theory and robotics. Arouri’s research is particularly valuable for students and engineers working on legged locomotion, as it provides a clear, analytical pathway for designing controllers that handle the hybrid (continuous and discrete) nature of walking. His work underscores the potential of switched systems in advancing autonomous robotics.