Beytullah Okur

Gebze Technical University, Yıldız Technical University

Papers

Total Citations

H-Index

About

Beytullah Okur is a researcher specializing in nonlinear control theory for tendon-driven robotic systems, a critical area for developing safer, more dexterous robots that mimic biological movement. His work focuses on overcoming the inherent challenges of these flexible systems, particularly the lack of direct sensor feedback. Okur’s major contributions include pioneering partial state feedback controllers that eliminate the need for actuator-side position measurements, significantly reducing system complexity and cost. His 2014 paper, "Nonlinear Robust Control of Tendon–Driven Robot Manipulators," with 16 citations, establishes foundational robust control strategies. Expanding on this, his 2015 study proposes a controller using only link position data, a breakthrough for practical implementation. Further advancing the field, his 2014 work on nonlinear adaptive control addresses both parametric uncertainty and the absence of velocity measurements, offering a comprehensive solution for real-world applications. While his citation counts are modest, Okur’s focused, methodical approach to solving fundamental sensing and control problems in tendon-driven robots has laid important groundwork for more intelligent, human-safe robotic systems.