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About

Kaan Can Fidan is a robotics researcher whose work focuses on the critical challenge of stable locomotion for legged robots, particularly bipedal humanoids and quadrupeds. His research centers on trajectory generation and control strategies that enable robots to navigate complex environments. Fidan’s most significant contributions involve the application of the Zero Moment Point (ZMP) criterion, a fundamental stability metric, to create robust walking gaits. He pioneered a method for generating pace gait references for quadruped robots using preview control, a technique that anticipates future motion to maintain balance. His work also addresses the difficult problem of bipedal walking on inclined planes, developing fuzzy logic-based systems to modify reference trajectories in real-time, and proposing circular arc-shaped walking patterns for smoother, more natural motion. With his most cited paper, "Zero Moment Point based pace reference generation for quadruped robots via preview control," accumulating 20 citations, and several other works on inclined-plane walking receiving 19 and 11 citations respectively, Fidan’s research has provided foundational techniques for improving the adaptability and stability of legged robots in real-world, uneven terrains.