Alikhan Yessaly
Papers
2
Total Citations
15
H-Index
2
About
Alikhan Yessaly is a robotics researcher whose work focuses on the control and mechanical design of humanoid and bipedal robots. His key research areas include bipedal locomotion, balance control, and novel actuation mechanisms for humanoid platforms. Yessaly’s most cited paper, "Computational Efficient Balance Control for a Lightweight Biped Robot with Sensor Based ZMP Estimation" (2018, 10 citations), presents a computationally efficient balance controller that combines a Linear Inverted Pendulum (LIP) model with Zero Moment Point (ZMP) estimation to derive joint-space control actions. This work is notable for its practical approach to real-time balance maintenance in lightweight bipeds. In a second significant contribution, "An Actuated Spherical Joint for Humanoid Robotics Applications" (2019, 5 citations), Yessaly introduces a novel 3PSS-1S parallel mechanism that enables rotation about any arbitrary axis passing through the joint center, offering enhanced dexterity for humanoid robots. While his citation counts reflect a developing career, Yessaly’s contributions are distinguished by their focus on bridging theoretical control methods with practical hardware implementation, making his work relevant for researchers in legged locomotion and humanoid design.
Research Focus
Key Achievements
Top Papers
- 1
- 2An Actuated Spherical Joint for Humanoid Robotics Applications5 citations · 2019