Kemalettin Erbatur

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—This paper surveys how some " intelligence " can be incorporated in sliding-mode controllers (SMCs) by the use of computational intelligence methodologies in order to alleviate the well-known problems met in practical implementations of SMCs. The use of variable-structure system theory in design and stability analysis of fuzzy controllers is also discussed(More)
—The control of a biped humanoid is a challenging task due to the hard-to-stabilize dynamics. Walking reference trajectory generation is a key problem. Linear Inverted Pendulum Model (LIPM) and Zero Moment Point (ZMP) Criterion-based approaches in stable walking reference generation are reported. In these methods, generally, the ZMP reference during a(More)
—The robustness property of sliding-mode controllers (SMC's) makes them attractive for industrial control applications. However, this property is valid only under ideal sliding-mode conditions. Additionally, practical SMC's are likely to exhibit high-frequency oscillations in the plant output, called chattering , and to excite unmodeled dynamics. A novel,(More)
SURALP is a new walking humanoid robot platform designed at Sabanci University-Turkey. The kinematic arrangement of the robot consists of 29 independently driven axes, including legs, arms, waist and a neck. This paper presents the highlights of the design of this robot and experimental walking results. Mechanical design, actuation mechanisms, sensors, the(More)
— Reference trajectory generation is one of the key problems in biped walking robot research. The linear inverted pendulum model (LIPM) is employed widely as a useful model which simplifies trajectory generation task. Many reference generation algorithms use the Zero Moment Point (ZMP) Criterion for the LIPM in order to achieve stable walking trajectories.(More)