Papers
4
Total Citations
59
H-Index
4
About
Dr. Oz Yakrangi is a pioneering roboticist whose work bridges underwater robotics, cable-driven systems, and bio-inspired locomotion. His research focuses on the conception, control, and dynamic modeling of robots for extreme environments, particularly the seabed. Dr. Yakrangi’s major contributions include developing a hybrid seabed robot that transitions between submarine and humanoid configurations, enabling both traversal and manipulation on rough underwater terrain (19 citations). He also introduced the Underwater Zero Moment Point (UZMP) framework for dynamic walking in submerged environments, a key advancement for legged robots operating in currents and variable buoyancy (7 citations). His experimental-computational methodology for determining hydrodynamic coefficients via free decay tests (26 citations) provides a rigorous foundation for designing and controlling underwater robots, directly impacting navigation and stability. Additionally, his work on redundant cable-driven robots explores potential energy distribution for compliant grippers, offering novel solutions for dexterous manipulation (7 citations). With a total of over 59 citations across his most influential works, Dr. Yakrangi’s research is essential reading for engineers developing autonomous systems for ocean exploration, offshore infrastructure, and deep-sea intervention.
Research Focus
Key Achievements
Top Papers
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- 4Dynamic Walking of a Legged Robot in Underwater Environments7 citations · 2019