Papers
14
Total Citations
1,312
H-Index
8
About
Sergey Drakunov is a pioneering control theorist whose research spans sliding mode control, robotics, and distributed parameter systems. He is perhaps best known for introducing the **Capture Point** concept for humanoid push recovery, a landmark contribution with over 1,098 citations that provides a principled framework for determining when and where a bipedal robot must step to avoid falling after a large push. Drakunov has also made foundational contributions to **sliding mode control** for robotic path planning, developing electrostatic potential field methods that enable obstacle avoidance without local minima (49+ citations). His work extends to **distributed parameter systems**, where he applied sliding mode techniques to control the heat equation for arc welding applications (31 citations). More recently, Drakunov has advanced the field of **soft robotics**, developing parametric PH curve models and reduced-order control strategies for mobile soft continuum manipulators operating in unstructured environments. His research is characterized by elegant mathematical formulations that bridge theoretical control theory with practical robotic applications, from bipedal locomotion to temperature field regulation in manufacturing processes.
Research Focus
Key Achievements
Top Papers
- 1Capture Point: A Step toward Humanoid Push Recovery1,098 citations · 2006
- 2Robot path obstacle avoidance control via sliding mode approach49 citations · 2002
- 3Sliding mode control of a heat equation with application to arc welding31 citations · 2002
- 4Integral sliding mode control of an extended Heisenberg system30 citations · 2009
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- 8Control strategy for planar vertical jump11 citations · 2006
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- 10Towards an integrated welding testbed: temperature field control4 citations · 1998