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Antonio Khoury is a robotics researcher whose work spans humanoid robot motion planning, optimal control, and state estimation for legged systems. His most influential contributions lie in developing integrated approaches for whole-body motion planning in humanoid robots, addressing the complex challenge of generating collision-free, dynamically stable walking trajectories in cluttered environments. His 2013 paper on dynamic walking and whole-body motion planning, which has accumulated 80 citations, introduced a randomized algorithm for constrained motion planning that elegantly bridges manipulation tasks and locomotion. A companion paper that same year, with 54 citations, laid algorithmic foundations for combining path planning with optimal control, advancing the field's ability to solve complex humanoid motion problems efficiently. Beyond motion planning, Khoury has made meaningful contributions to state estimation for legged robots, particularly in handling structural deformations — a practically important but often overlooked challenge. His MOVIE estimator (2022) and earlier kinematic approach (2019) leverage low-cost IMUs to robustly estimate robot state under real-world flexibilities. With nearly 200 citations across his key works, Khoury's research reflects a sustained commitment to making legged robots more capable, adaptable, and deployable in realistic environments, offering valuable tools for both academic researchers and robotics engineers alike.