Kemalettin Erbatur
E-mail : kemalettin.erbatur
sabanciuniv.edu
Education :
Kemalettin Erbatur received the B.S. (honors) degree in electronic engineering and mathematics from Bogaziçi University, Istanbul, Turkey, the M.Sc. degree in control systems from Imperial College, London, U.K, and the Ph.D. degree from Bogazici University, in 1992, 1993 and 2000, respectively.Work Experience :
In 1993 ,he joined the Robotics and Automation Group, TUBITAK Marmara Research Centre, Gebze-Kocaeli, Turkey. In 1997, he was the leader of this group. In the period 1998-2000 he worked as an expert researcher in the Electronic Systems Group of the same research centre. In 2000, he became a faculty member in the Faculty of Engineering and Natural Sciences, Sabanci University. He had a visiting researcher position at The New Industry Research Organization, Kobe, Japan. In the 2001-2002 period he was a visiting faculty member at the Electrical and Computer Engineering Department, Yokohoma National University, Japan.Areas of Interest :
His primary research interest is in intelligent motion control and humanoid robots. He is the author of 50 papers which have appeared in international conference proceedings and journals.Awards :
- TOK 2009 En İyi Bildiri Ödülü - "İnsansı Robot Platformu SURALP" - TOK 2009 -Otomatik Kontrol Türk Milli Komitesi-Otomatik Kontrol Ulusal Toplantısı
Publications :
| Article |
| Bahçeci, Beste and Erbatur, Kemalettin (2023) "Balance and posture control of legged robots: a survey", Journal of Intelligent and Robotic Systems: Theory and Applications, Vol.108, No.2 (SCI) |
| Pehlivan, Ahmet Selim and Bahçeci, Beste and Erbatur, Kemalettin (2022) "Genetically optimized pitch angle controller of a wind turbine with fuzzy logic design approach", Energies, Vol.15, No.18 (SCI) |
| Bahçeci, Beste and Adak, Ömer Kemal and Erbatur, Kemalettin (2022) "Push recovery of a quadrupedal robot in the flight phase of a long jump", International Journal of Mechanical Engineering and Robotics Research, Vol.11, No.7, 486-493 (NA) |
| Adak, Ömer Kemal and Erbatur, Kemalettin (2022) "Bound gait reference generation of a quadruped robot via contact force planning", International Journal of Mechanical Engineering and Robotics Research, Vol.11, No.3, 129-137 (NA) |
| Pehlivan, Ahmet Selim and Akşit, Mahmut Faruk and Erbatur, Kemalettin (2021) "Fatigue analysis design approach, manufacturing and implementation of a 500 kW wind turbine main load frame", Energies, Vol.14, No.12 (SCI) |
| Gülhan, Mehmet Mert and Erbatur, Kemalettin (2018) "Kinematic arrangement optimization of a quadruped robot with genetic algorithms", Measurement and Control, Vol.51, No.9-10, 406-416 (SCI) |
| Hashlamon, Iyad and Erbatur, Kemalettin (2017) "Reduced filtered dynamic model for joint friction estimation of walking bipeds", Jordan Journal of Mechanical and Industrial Engineering, Vol.11, No.3, 147-154 (ESCI) |
| Hashlamon, Iyad and Gülhan, Mert Mehmet and Ayit, Orhan and Erbatur, Kemalettin (2017) "A novel method for slip prediction of walking biped robots", Robotica, Vol.35, No.4, 766-786 (SCI) |
| Hashlamon, Iyad and Erbatur, Kemalettin (2016) "Joint friction estimation for walking bipeds", Robotica, Vol.34, No.7, 1610-1629 (SCI) |
| Hashlamon, Iyad and Erbatur, Kemalettin (2016) "An improved real-time adaptive Kalman filter with recursive noise covariance updating rules", Turkish Journal of Electrical Engineering & Computer Sciences, Vol.24, No.2, 524-540 (SCI) |
| Bilge, Ümit and Albey, Erinç and Beşikçi, Umut and Erbatur, Kemalettin and Aslan, Ayşe Nur (2015) "Mathematical models for FMS loading and part type selection with flexible process plans", European Journal of Industrial Engineering, Vol.9, No.2, 171-194 (SCI) |
| Erbatur, Kemalettin and Seven, Utku and Taşkıran, Evrim and Koca, Özer and Yılmaz, Metin and Ünel, Mustafa and Kızıltaş, Güllü and Şabanoviç, Asif and Onat, Ahmet (2011) "Design and control of the humanoid robot SURALP", Turkish Journal of Electrical Engineering and Computer Sciences, Vol.19, No.5, 725-731 (SCI) |
| Erbatur, Kemalettin and Çallı, Berk (2009) "Fuzzy boundary layer tuning for sliding mode systems as applied to the control of a direct drive robot", Soft Computing, Vol.13, No.11, 1099-1111 (SCI) |
| Erbatur, Kemalettin and Kurt, Okan (2009) "Natural ZMP trajectories for biped robot reference generation", IEEE Transactions on Industrial Electronics, Vol.56, No.3, 835-845 (SCI) |
| Takemura, Fumiaki and Enomoto, Masaya and Denou, Kazuya and Erbatur, Kemalettin and Zwiers, Ulrike and Tadokoro, Satoshi (2005) "A human body searching strategy using a cable-driven robot with an electromagnetic wave direction finder at major disasters", Advanced Robotics, Vol.19, No.3, 331-347 (SCI) |
| Erbatur, Kemalettin and Kaynak, M. Okyay and Şabanoviç, Asif (1999) "A study on robustness property of sliding-mode controllers: a novel design and experimental investigations", IEEE Transactions on Industrial Electronics, Vol.46, No.5, 1012-1018 (SCI) |
| Book Section / Chapter |
| Erbatur, Kemalettin, "Fuzzy control of direct drive manipulators", Recent Advances in Sliding Modes: From Control to Intelligent Mechatronics, Yu, Xinghuo and Efe, Mehmet Önder (eds.), Switzerland: Springer, April 2015, 371-401 |
| Erbatur, Kemalettin, "Sliding modes in fuzzy and neural network systems", Variable structure systems : from principles to implementation, London: Institution of Electrical Engineers, October 2004 |
| Papers in Conference Proceedings |
| Adak, Ömer Kemal and Bahçeci, Beste and Erbatur, Kemalettin, "Whole-body pace gait control based on centroidal dynamics of a quadruped robot", IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Institute of Electrical and Electronics Engineers, July 2022, 1677-1682 |
| Pehlivan, Ahmet Selim and Bahçeci, Beste and Erbatur, Kemalettin, "Performance analysis of a pitch angle controller for 2MW wind turbine under abrupt wind speed conditions", International Conference on Electrical, Computer and Energy Technologies (ICECET), Institute of Electrical and Electronics Engineers, December 2021 |
| Adak, Ömer Kemal and Bahçeci, Beste and Erbatur, Kemalettin, "Operasyonel uzayda hibrit kuvvet-hareket kontrolüne sahip tek bacaklı robot [A one-legged robot with hybrid force-motion control in operational space]", Atan, Özkan and Özok, Halil İbrahim and Kutlu, Fatih and Silahtar, Onur (eds.), Otomatik Kontrol Türk Milli Komitesi Ulusal Kongresi (TOK 2021), Otomatik Kontrol Türk Mili Komitesi, September 2021, 108-113 |
| Pehlivan, Ahmet Selim and Bahçeci, Beste and Erbatur, Kemalettin, "2MW rüzgar türbini için kanat açısı kontrolörleri P, PI, PID ve optimize edilmiş PID'nin performans karşılaştırması [Performance comparison of pitch angle controllers P, PI, PID and optimized PID for 2MW wind turbine]", Atan, Özkan and Özok, Halil İbrahim and Kutlu, Fatih and Silahtar, Onur (eds.), Otomatik Kontrol Türk Milli Komitesi Ulusal Kongresi (TOK 2021), Otomatik Kontrol Türk Mili Komitesi, September 2021, 159-164 |
| Adak, Ömer Kemal and Bahçeci, Beste and Erbatur, Kemalettin, "Hybrid force-motion control for one-legged robot in operational space", IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Institute of Electrical and Electronics Engineers, July 2021, 905-910 |
| Pehlivan, Ahmet Selim and Erbatur, Kemalettin, "Genetic algorithm optimization of PID pitch angle controller for a 2 MW wind turbine", Uyaver, Şahin (ed.), International 2nd Conference on Sustainable Energy and Energy Calculations (ICSEEC2020), Turkish-German University, September 2020 |
| Pehlivan, Ahmet Selim and Erbatur, Kemalettin, "Performance comparison of pitch angle controllers for 2 MW wind turbine", Uyaver, Şahin (ed.), International 2nd Conference on Sustainable Energy and Energy Calculations (ICSEEC2020), Turkish-German University, September 2020 |
| Adak, Ömer Kemal and Ayit, Orhan and Gülhan, Mert Mehmet and Erbatur, Kemalettin, "Genetic tuning of a central pattern generator for quadruped locomotion", III. International Electrical & Electronic Engineering and Technologies Conference (ELECTROTECH '15), Istanbul: DAKAM, October 2015 |
| Efe, Mehmet Önder and Ünel, Mustafa and Erbatur, Kemalettin and Kaynak, Ünver and Leblebicioğlu, Kemal, "İnsansız hava aracı projeleri ve kaynak sağlayan programlar üzerine (On UAV projects and funding agencies)", Otomatik Kontrol Türk Milli Komitesi Ulusal Toplantısı (TOK 2015), Pamukkale, Denizli: TOK (Otomatik Kontrol Türk Milli Komitesi), September 2015, 192-199 |
| Hashlamon, Iyad and Erbatur, Kemalettin, "Joint sensor fault detection and recovery based on virtual sensor for walking legged robots", IEEE 23rd International Symposium on Industrial Electronics (ISIE 2014), USA: IEEE (Institute of Electrical and Electronics Engineers), June 2014, 1210-1214 |
| Hashlamon, Iyad and Erbatur, Kemalettin, "Simple virtual slip force sensor for walking biped robots", 9th Asian Control Conference (ASCC 2013), USA: IEEE (Institute of Electrical and Electronics Engineers), June 2013 |
| Hashlamon, Iyad and Erbatur, Kemalettin, "Ground reaction force sensor fault detection and recovery method based on virtual force sensor for walking biped robots", 9th Asian Control Conference (ASCC 2013), USA: IEEE (Institute of Electrical and Electronics Engineers), June 2013 |
| Özel, Selim and Eskimez, Şefik Emre and Erbatur, Kemalettin, "Humanoid robot orientation stabilization by shoulder joint motion during locomotion", 9th Asian Control Conference (ASCC 2013), USA: IEEE (Institute of Electrical and Electronics Engineers), June 2013 |
| Hashlamon, Iyad and Erbatur, Kemalettin, "Center of mass states and disturbance estimation for a walking biped", IEEE International Conference on Mechatronics (ICM 2013), USA: IEEE (Institute of Electrical and Electronics Engineers), February 2013, 248-253 |
| Evren, Sanem and Ünel, Mustafa and Adak, Ömer Kemal and Erbatur, Kemalettin and Akşit, Mahmut Faruk, "Modeling and simulation of a horizontal axis wind turbine using S4WT", International Conference on Renewable Energy Research and Applications (ICRERA), USA: IEEE (Institute of Electrical and Electronics Engineers), November 2012, 1-6 |
| Evren, Sanem and Ünel, Mustafa and Adak, Ömer Kemal and Erbatur, Kemalettin and Akşit, Mahmut Faruk, "Prototip bir rüzgar türbininin S4WT ortamında modellenmesi, denetimi ve benzetimi", Otomatik Kontrol Ulusal Toplantısı 2012 (TOK'12), Niğde, Türkiye: Niğde Üniversitesi, October 2012 |
| Fidan, Kaan Can and Akbaş, Tunç and Eskimez, Şefik Emre and Özel, Selim and Adak, Ömer Kemal and Drama, Özge and Konukoğlu, Mert İsmail and Yılmaz, Güneş and Erbatur, Kemalettin, "Dört bacaklı robotlar için önizlemeli kontrol ile sıfır moment noktası tabanlı yürüme yörüngesi sentezi", Otomatik Kontrol Türk Milli Komitesi 2011 Ulusal Toplantısı (TOK 2011), İzmir, Türkiye: Dokuz Eylül Üniversitesi Yayınları, September 2011 |
| Seven, Utku and Akbaş, Tunç and Fidan, Kaan Can and Yılmaz, Metin and Erbatur, Kemalettin, "Humanoid robot walking control on inclined planes", IEEE International Conference on Mechatronics (ICM 2011), USA: IEEE (Institute of Electrical and Electronics Engineers), April 2011, 875-880 |
| Seven, Utku and Yılmaz, Metin and Taşkıran, Evrim and Koca, Özer and Erbatur, Kemalettin, "İnsansı robot SURALP için sıfır moment noktası tabanlı referans sentezi ile eğimi değişen yüzeylerde yürüme kontrolü", Otomatik Kontrol Ulusal Toplantısı (TOK 2010), Gebze, Türkiye: Gebze Yüksek Teknoloji Enstitüsü, September 2010 |
| Yılmaz, Metin and Seven, Utku and Erbatur, Kemalettin, "Biped robot walking control on inclined planes with fuzzy parameter adaptation", IFAC Workshop Adaptation and Learning in Control and Signal Processing (ALCOSP 2010), New York, NY, USA: IFAC (International Federation of Accountants), August 2010 |
| Taşkıran, Evrim and Yılmaz, Metin and Koca, Özer and Seven, Utku and Erbatur, Kemalettin, "Trajectory generation with natural ZMP references for the biped walking robot SURALP", Rakotondrabe, M. and Ivan, I. A. (eds.), IEEE International Conference on Robotics and Automation (ICRA 2010), USA: IEEE (Institute of Electrical and Electronics Engineers), May 2010, 4237-4242 |
| Erbatur, Kemalettin and Seven, Utku and Taşkıran, Evrim and Koca, Özer and Yılmaz, Metin and Ünel, Mustafa and Kızıltaş, Güllü and Şabanoviç, Asif and Onat, Ahmet, "SURALP: a new full-body humanoid robot platform", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), USA: IEEE (Institute of Electrical and Electronics Engineers), October 2009, 4949-4954 |
| Erbatur, Kemalettin and Seven, Utku and Taşkıran, Evrim and Koca, Özer and Yılmaz, Metin and Ünel, Mustafa and Kızıltaş, Güllü and Şabanoviç, Asif and Onat, Ahmet, "İnsansı robot platformu SURALP", Erbatur, Kemalettin (ed.), Otomatik Kontrol Ulusal Toplantısı 2009 (TOK'09), İstanbul, Türkiye: Yıldız Teknik Üniversitesi, October 2009 |
| Çallı, Berk and Erbatur, Kemalettin and Ünel, Mustafa, "Visually aided force control with fuzzy parameter tuning", Erbatur, Kemalettin (ed.), ICONS 2009 - The 2nd International Conference on Intelligent Systems and Control, Istanbul: IFAC, Boğaziçi University, September 2009 |
| Taşkıran, Evrim and Seven, Utku and Koca, Özer and Yılmaz, Metin and Erbatur, Kemalettin, "Walking control of a biped robot on an inclined plane", Erbatur, Kemalettin (ed.), ICONS 2009 - The 2nd International Conference on Intelligent Systems and Control, Istanbul: IFAC, Boğaziçi University, September 2009 |
| Çallı, Berk and Erbatur, Kemalettin and Ünel, Mustafa, "Bulanık parametre ayarlamalı görüntü destekli kuvvet kontrolü", Otomatik Kontrol Türk Milli Komitesi, Otomatik Kontrol Ulusal Toplantısı TOK'08, İstanbul: İstanbul Teknik Üniversitesi, November 2008 |
| Erbatur, Kemalettin and Seven, Utku and Taşkıran, Evrim and Koca, Özer, "Walking trajectory generation and force feedback control for the humanoid robot leg module SURALP-L", Grigoriadis, K. (ed.), 11th IASTED International Conference on Intelligent Systems and Control ISC 2008, Calgary, AB Canada: ACTA Press, November 2008 |
| Erbatur, Kemalettin and Seven, Utku and Taşkıran, Evrim and Koca, Özer and Kızıltaş, Güllü and Ünel, Mustafa and Şabanoviç, Asif and Onat, Ahmet, "SURALP-L – İnsansı robot platformu bacak modülü", Otomatik Kontrol Türk Milli Komitesi, Otomatik Kontrol Ulusal Toplantısı TOK'08, İstanbul: İstanbul Teknik Üniversitesi, November 2008 |
| Erbatur, Kemalettin and Taşkıran, Evrim and Seven, Utku and Koca, Özer, "Moving single support ZMP trajectories for humanoid robot walking reference generation", Grigoriadis, K. (ed.), 11th IASTED International Conference on Intelligent Systems and Control ISC 2008, Calgary, AB Canada: ACTA Press, November 2008 |
| Koca, Özer and Seven, Utku and Taşkıran, Evrim and Erbatur, Kemalettin, "Yay şekilli tek ayak destek SMN yörüngeleri ile insansı robot yürüme referansı sentezi", Otomatik Kontrol Türk Milli Komitesi, Otomatik Kontrol Ulusal Toplantısı TOK'08, İstanbul: İstanbul Teknik Üniversitesi, November 2008 |
| Seven, Utku and Taşkıran, Evrim and Koca, Özer and Erbatur, Kemalettin, "Ters sarkaç modeli ve salınan bacak telafisi ile oluşturulan yürüyen robot referans yörüngeleri", Otomatik Kontrol Türk Milli Komitesi, Otomatik Kontrol Ulusal Toplantısı TOK'08, İstanbul: İstanbul Teknik Üniversitesi, November 2008 |
| Erbatur, Kemalettin and Seven, Utku, "An inverted pendulum based approach to biped trajectory generation with swing leg dynamics", 7th IEEE/RAS International Conference on Humanoid Robots, USA: IEEE (Institute of Electrical and Electronics Engineers), December 2007, 216-221 |
| Erbatur, Kemalettin and Çallı, Berk, "Fuzzy boundary layer tuning as applied to the control of a direct drive robot", The 33rd Annual Conference of the IEEE Industrial Electronics Society, Taipei: IEEE, November 2007 |
| Erbatur, Kemalettin and Çallı, Berk, "Bulanık mantıklı sınır tabakası kalınlığı ayarlaması ile kayan kipli robot kontrolü", TOK'07 Otomatik Kontrol Ulusal Toplantısı, İstanbul, Türkiye: Otomatik Kontrol Türk Milli Komitesi, September 2007, 494-499 |
| Erbatur, Kemalettin and Seven, Utku and Kurt, Okan, "Doğal sıfır moment noktası yörüngeleri ve yürüyen robot referansları", TOK'07 Otomatik Kontrol Ulusal Toplantısı, İstanbul, Türkiye: Otomatik Kontrol Türk Milli Komitesi, September 2007, 353-364 |
| Erbatur, Kemalettin and Seven, Utku, "Humanoid gait synthesis with moving single support ZMP trajectories", The 13th IASTED International Conference on Robotics and Applications ~RA 2007, Würzburg, Germany: ACTA Press, August 2007 |
| Erbatur, Kemalettin and Ayhan, Ozan, "Yer çekimi telafi teknikleri ile iki bacaklı robot yürüyüş kontrolü", Otomatik Kontrol Ulusal Toplantısı,, November 2006 |
| Erbatur, Kemalettin and Kawamura, Atsuo, "İki bacaklı yürüyen Robotlara uygulanan temas modellemesi ve dinamik benzetim yöntemi", Otomatik Kontrol Ulusal Toplantısı,, November 2006 |
| Erbatur, Kemalettin and Kurt, Okan, "Humanoid walking robot control with natural ZMP references", IECON 2006 - Annual Conference of the IEEE Industrial Electronics Society, [s.l]: IEEE Industrial Electronics Society, November 2006 |
| Kurugöl, Orçun and Arslantürk, Emrah and Berkan, Gürkan and Ünel, Mustafa and Erbatur, Kemalettin, "Doğrudan sürüşlü scara robotun görsel geri beslemeli gerçek zamanlı kontrolü", Otomatik Kontrol Ulusal Toplantısı, Ankara, Turkey: TOBB and Turkish National Committee of Automatic Control, November 2006 |
| El-Kahlout, Yasser and Erbatur, Kemalettin, "İki bacaklı yürüyen robotlarda yük değisimi için refleks uyarlaması", Bir, Atilla and Eksin, İbrahim and Yeşil, Engin (eds.), TOK Otomatik Kontrol Ulusal Toplantısı 2005, İstanbul: İTÜ, June 2005, 225-230 |
| Ayhan, Ozan and Erbatur, Kemalettin, "Biped robot walk control via gravity compensation techniques", The 30th Annual Conference of the IEEE Industrial, IEEE, November 2004, 621-626 |
| Bebek, Özkan and Erbatur, Kemalettin, "A gait adaptation scheme for biped walking robots", The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04., USA: IEEE (Institute of Electrical and Electronics Engineers) 2004, 409-414 |
| Takemura, Fumiaki and Enomoto, Masaya and Denou, Kazuya and Erbatur, Kemalettin and Zweirs, Ulrike and Tadokoro, Satoshi, "Proposition of a human body searching strategy using a cable-driven robot at major disaster", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004), USA: IEEE (Institute of Electrical and Electronics Engineers) 2004, 1456-1461 |