Antonio El Khoury

Email: antonio.el.khoury (at)
Google Scholar


Current Position

I graduated on June 3rd 2013. Since October 2013, I have been working at Dassault Systèmes as CATIA R&D Engineer in the Mechanical Systems Experience department.

Feel free to check out my PhD thesis manuscript, defense slides or video.

From October 2010 to June 2013, I was a PhD candidate at CNRS-LAAS in the Gepetto group under the supervision of Dr. Florent Lamiraux and Dr. Michel Taïx. My research topic is Planning Optimal Motions for Anthropomorphic Systems.

Short Résumé

Jun. 2013 - Oct. 2013 Post-Doctorate in the Gepetto group, CNRS-LAAS, Toulouse, France

Keywords: Humanoid Robots, Motion Planning, Optimal Control
With Florent Lamiraux, Michel Taïx.

Oct. 2010 - Jun. 2013 Phd Candidate in the Gepetto group, CNRS-LAAS, Toulouse, France

Title: Planning Optimal Motions for Anthropomorphic Systems Keywords: Humanoid Robots, Motion Planning, Optimal Control
Projects: ECHORD-GOP
With Florent Lamiraux, Michel Taïx, Sébastien Dalibard, Katja Mombaur, Martin Felis, Thomas Moulard, Maxime Reis, Olivier Stasse, Sébastien Barthélémy.

Mar. 2010 - Sep. 2010 Research Intern in the Gepetto group, CNRS-LAAS, Toulouse, France

Keywords: Humanoid Robots, Motion Planning, Path Optimization
With Michel Taïx, David Flavigné.

Jun. 2009 - Aug. 2009 R&D Intern at Infosys, Bangalore, India

Keywords: Robot Operating Systems

Sep. 2008 - Sep. 2010 Ingénieur Civil des Mines at Mines ParisTech, Paris, France

Minor in Applied Mathematics and Robotics, First Class Honors
With Brigitte d'Andréa-Novel, Bruno Steux.

Sep. 2004 - Jun. 2008 Electro-Mechanical Engineering at Ecole Supérieure d'Ingénieurs de Beyrouth, Lebanon

Research Interests

  • Redundant and Underactuated Systems, e.g. Humanoid Robots
  • Motion Planning
  • Optimal Control
  • Rigid Body Dynamics

Selected Publications

All publications are avaiblable here (with pdf files if available).


Here is a list of software packages to which I contributed actively:

roboptim-capsule An automated optimal capsule generator over polyhedrons.

Source Repository

MetaPOD: Meta-Programming Optimized Dynamics Template-based C++ implementation of Roy Featherstone's Rigid Body Dynamics Algorithms: a robot's kinematic tree is known at compile-time, which greatly reduces run-time.
Other contributors: Maxime Reis (alumnus), Olivier Stasse and Sébastien Barthélémy from Aldebaran Robotics.

Source Repository

RobOptim: Optimization for Robotics RobOptim is a set of packages designed to make robotics non-linear optimization problems easier to solve.
Other contibutors: Thomas Moulard (alumnus) and Florent Lamiraux.

Source Repository

hpp-model-urdf Parser that generates a geometric and dynamic model of a robot kinematic tree from a URDF file. URDF is the standard robot description format used in ROS.

Source Repository

hpp-geometry Extension of collision geometries used by the Kineo Collision Detector (KCD) in the KiteLab motion planning SDK.

Source Repository