Mustafa Ay

About

Mustafa Ay is a leading researcher in biomimetic robotics, specializing in the design, modeling, and control of robotic fish that emulate real aquatic locomotion. His major contributions center on developing Central Pattern Generator (CPG)-based control systems for autonomous swimming, enabling multi-task capabilities and closed-loop sensory feedback for three-dimensional movement. Ay’s work on the complete non-linear dynamic modeling of Carangiform locomotion, based on real carp behavior using the Lagrange approach, has provided foundational insights for the field. His most cited paper, “CPG-based autonomous swimming control for multi-tasks of a biomimetic robotic fish” (2019), has garnered 51 citations, while his hierarchical control model (2019) and three-dimensional modeling study (2018) have received 42 and 38 citations, respectively. Notably, Ay led the mechatronic design and manufacturing of the i-RoF, an intelligent robotic fish prototype with a two-link propulsive tail, and has explored route planning and link length optimization using algorithms like Big Bang–Big Crunch. His research, spanning over a decade, has significantly advanced bio-inspired underwater robotics, impacting both theoretical modeling and practical implementation for autonomous systems.

Research Focus

Key Achievements

Top Papers

1. 1
   CPG-based autonomous swimming control for multi-tasks of a biomimetic robotic fish

   51 citations · 2019
2. 2
   Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model

   42 citations · 2019
3. 3
   Three-Dimensional Modeling of a Robotic Fish Based on Real Carp Locomotion

   38 citations · 2018
4. 4
   Mechatronic Design and Manufacturing of the Intelligent Robotic Fish for Bio-Inspired Swimming Modes

   34 citations · 2018
5. 5
   Implementations of the route planning scenarios for the autonomous robotic fish with the optimized propulsion mechanism

   22 citations · 2016
6. 6
   Modeling and analysis of a modular-structured tendon-driven continuum robot for the three-dimensional end effector coordinate

   7 citations · 2023
7. 7
   Link length optimization of a biomimetic robotic fish based on Big Bang — Big Crunch algorithm

   7 citations · 2016
8. 8
   DYNAMIC MODEL AND SIMULATION OF ONE ACTIVE JOINT ROBOTIC FISH

   5 citations · 2017
9. 9
   FARKLI KUYRUK MODELLERİNE SAHİP BİR ROBOT BALIĞIN FSI ANALİZİ

   2 citations · 2017
10. 10
    Design and Control of Diving Mechanism for the Biomimetic Robotic Fish

    2 citations · 2017

Key Collaborators

Contact & Links