Papers
7
Total Citations
149
H-Index
4
About
Jorhabib Eljaik is a leading researcher in humanoid robotics, specializing in whole-body control, force regulation, and bipedal locomotion. His most impactful work, the 2015 paper on iCub whole-body control through force regulation on rigid non-coplanar contacts (105 citations), revolutionized how humanoid robots stabilize postures by actively managing contact forces with their environment. Eljaik’s major contributions include developing a software abstraction layer for free-floating mechanical systems (2017, 15 citations) that decouples control design from implementation, enabling researchers to synthesize controllers without preconceived constraints. He also advanced bipedal walking with the iCub platform (2016, 11 citations), analyzing performance across diverse scenarios, and pioneered multimodal sensor fusion for foot state estimation using Extended Kalman Filters (2015, 11 citations), crucial for dynamic locomotion in real-world settings. His work on the OCRA (Optimization-based Control for Robotics Applications) library (2018) provides platform-independent tools for hierarchical and hybrid control strategies, furthering the field’s accessibility. Eljaik’s research, with over 150 total citations, has fundamentally shaped how robots interact with and move through complex environments, making him a pivotal figure in modern humanoid robotics.
Research Focus
Key Achievements
Top Papers
- 1iCub Whole-Body Control through Force Regulation on Rigid Non-Coplanar Contacts105 citations · 2015
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- 5Proceedings of Robotics: Science and Systems IX3 citations · 2013
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