H. Karaki

Papers

Total Citations

260

H-Index

About

H. Karaki is a robotics researcher whose work has made significant contributions to the field of bipedal locomotion and humanoid robot control. Specializing in dynamic biped walking systems, Karaki's research focuses on developing robust control methods that enable walking robots to maintain stability under real-world conditions, including the presence of unknown external forces and moments. Among Karaki's most influential contributions is a control framework for dynamic biped walking under unknown external forces, published in 2002, which garnered 120 citations and was validated through real-time experiments with the biped walking robot WL-12RIII. This work demonstrated practical applicability in physical robotic systems, bridging theoretical control design with hardware implementation. Building on this foundation, a 2005 study introducing optimized trunk and waist motion for walking stabilization earned 88 citations, advancing the understanding of how upper-body coordination enhances locomotion stability through optimal trajectory computation and Zero Moment Point (ZMP) analysis. Earlier foundational work from 1989, addressing stabilization under known external forces, established the groundwork for this subsequent research. Collectively, Karaki's body of work, accumulating over 260 citations, has meaningfully shaped modern approaches to humanoid robot locomotion and continues to influence researchers developing next-generation walking machines.