Papers
7
Total Citations
451
H-Index
6
About
Omar Harib is a leading researcher in bipedal locomotion, bridging the gap between theoretical control design and real-world robotic and assistive systems. His primary contributions lie in feedback control for dynamic walking, particularly through the application of virtual constraints and gait libraries. Harib’s most influential work, “Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway” (216 citations), demonstrated robust, versatile locomotion on the widely adopted Cassie platform, enabling the research community to share and benchmark algorithms. He also advanced the field by translating planar gait designs to 3D implementation, achieving stable walking with speed tracking (110 citations). Notably, Harib has pioneered the translation of hybrid zero dynamics (HZD) control from bipedal robots to decentralized control of exoskeletons, aiming to restore hands-free, crutchless mobility for individuals with lower-limb paralysis. His work on the ATALANTE exoskeleton, capturing the emotional impact of first steps, underscores his commitment to human-centric engineering. Through rapid trajectory optimization tools like C-FROST, Harib continues to accelerate gait design, making sophisticated control accessible for both robots and rehabilitation devices.
Research Focus
Key Achievements
Top Papers
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