F. El Hafi

Université Paris-Sud, Laboratoire de Biomécanique et Mécanique des Chocs, Sorbonne Université

Papers

Total Citations

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About

F. El Hafi is a pioneering researcher in the field of bipedal robotics and dynamic locomotion control, with a focus on achieving stable, human-like walking in humanoid robots. Their work centers on the development of robust control strategies that enable bipedal robots to maintain dynamic stability even under unknown external perturbations—a critical challenge in real-world robotic applications. El Hafi’s major contributions include the adaptation of the dynamic control scheme originally developed by Gorce, which they extended to ensure postural and walking stability in unpredictable environments. Their 2002 paper on walking dynamic control under unknown perturbation, with 15 citations, is a foundational work that addresses how robots can recover balance when disturbed, laying groundwork for more resilient locomotion systems. Additionally, their 1999 study on a behavioural approach for stepping motion gait (8 citations) integrates biomechanical models of human movement to design natural, stable stepping trajectories. El Hafi’s 2001 work on the dynamic control of the walking cycle, including the initiation process (5 citations), further refines these techniques. Through these studies, El Hafi has advanced the understanding of how humanoid robots can achieve adaptive, stable locomotion, inspiring subsequent research in assistive robotics and autonomous navigation.