O
Oussama Khatib
Researcher at Stanford University
Publications - 295
Citations - 34552
Oussama Khatib is an academic researcher from Stanford University. The author has contributed to research in topics: Robot & Robot control. The author has an hindex of 68, co-authored 288 publications receiving 31259 citations. Previous affiliations of Oussama Khatib include University of Tokyo & University of Notre Dame.
Papers
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Book ChapterDOI
A framework for multi-contact multi-body dynamic simulation and haptic display
D. Ruspini,Oussama Khatib +1 more
TL;DR: A general framework for the dynamic simulation and haptic exploration of complex virtual environments is presented and has been used to develop a simulator that can model complex interactions between generalized articulated mechanical systems and permits direct "hands-on" interaction with the virtual environment through a haptic interface.
Journal ArticleDOI
Robot multiple contact control
Jaeheung Park,Oussama Khatib +1 more
TL;DR: The proposed multicontact control framework provides a new way of defining the operational space coordinates, which facilitates the specification of multiple contact control and enables each contact force controller to utilize linear control theories.
Journal ArticleDOI
Human-centered robotics and interactive haptic simulation
TL;DR: Various methodologies and algorithms are described that address the computational challenges associated with interactive simulations involving multiple contacts and impacts between human-like structures in the virtual environment.
Proceedings ArticleDOI
Optimization of the inertial and acceleration characteristics of manipulators
Oussama Khatib,Alan Bowling +1 more
TL;DR: The study of inertial and acceleration properties have provided separate descriptions of the characteristics associated with linear and angular motions, which allows a more physically meaningful interpretation of these properties and provides simple models for their analysis.
Proceedings ArticleDOI
Extended operational space formulation for serial-to-parallel chain (branching) manipulators
TL;DR: The various models and concepts developed in operational space, such as dynamically consistent force/torque decomposition for control of redundant manipulators and the augmented object model for cooperative manipulator systems, are shown to extend directly.