Mohamed Djeha

Polytechnic School of Algiers, Centre National de la Recherche Scientifique

Papers

Total Citations

H-Index

About

Mohamed Djeha is a roboticist whose work centers on the critical challenge of making robots move safely and reliably in human environments. His primary research focuses on **task-space quadratic programming (QP)**, a powerful mathematical framework for controlling robots while respecting physical and safety constraints. Djeha’s major contribution lies in addressing a fundamental instability problem in kinematic-controlled robots—those using high-gain position or velocity commands. His most-cited work, "Robust Task-Space Quadratic Programming for Kinematic-Controlled Robots" (2023, 15 citations), provides a rigorous solution to ensure closed-loop stability, a breakthrough for practical deployment. He further advanced the field with "Adaptive-Gains Enforcing Constraints in Closed-Loop QP Control" (2020, 7 citations), which tackled the open problem of how to dynamically adjust constraint enforcement in real-time. Demonstrating the real-world impact of his theory, Djeha applied these principles to **human-robot handovers** (2022), addressing the synchronized timing and physical coordination needed for seamless object exchange. His work bridges the gap between elegant control theory and robust, constraint-aware robot behavior, laying essential groundwork for collaborative robots in manufacturing and service settings.