Khalid Yahya

Gelişim Üniversitesi, İstanbul Nişantaşı Üniversitesi

Papers

Total Citations

H-Index

About

Khalid Yahya is a robotics researcher focused on the control and motion planning of complex, human-inspired robotic systems. His primary research areas include nonlinear control theory, trajectory optimization, and the stabilization of underactuated mechanisms. Yahya’s most significant contributions center on the Robogymnast, a highly complex, triple-inverted pendulum model that mimics a human gymnast swinging on a high bar. In his highly cited 2022 work, he simulated and compared LQR and PID controllers to stabilize this three-link system, demonstrating effective swing-up and balancing strategies. His 2023 study expanded this by analyzing a broader suite of control techniques for the same manipulator. Most recently, in 2025, Yahya has advanced into dynamic workspaces, proposing a sampling-based motion planning strategy for robotic manipulators operating alongside humans. With over 20 citations to his core works, his research bridges foundational control theory and practical, real-time robotics, offering valuable insights for students and engineers working on humanoid robots, collaborative manipulators, and agile automation.