Kemalettin Erbatur

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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)
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 wellknown 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 by(More)
At large-scale urban earthquake disaster, human search is the most important process in rescue activities. This research develops a parallel cable-driven robot focusing on information acquisition from sky at crushed structures at landslide caused by huge earthquake. This robot is driven by multiple cables to move a sensor head with 6 degrees of freedom.(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 slidingmode 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)