Kemalettin Erbatur
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  • Kemalettin Erbatur

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E-Mail
erbatursabanciunivedu
Phone
(216) 483 9585
Personal Web
Title
Faculty Member
Jobs
Instructor
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.
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.
Publications
  • Article
    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 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, "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
    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
    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", Erbatur, Kemalettin (ed.), 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", Erbatur, Kemalettin (ed.), 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", Erbatur, Kemalettin (ed.), 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", Erbatur, Kemalettin (ed.), 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