S. Ekti Radin Charel

Universitas Negeri Surabaya, Politeknik Elektronika Negeri Surabaya

Papers

Total Citations

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About

S. Ekti Radin Charel is a leading researcher in the field of mobile robotics, with a primary focus on the dynamics and control of unicycle robots—a challenging class of wheeled mobile robots that maintain balance and mobility on a single wheel. His major contributions center on solving the inherent instability of these systems through advanced control strategies and sensor fusion techniques. In his highly cited 2016 work, "Speed and balancing control for unicycle robot" (20 citations), Charel developed novel mechanisms and control algorithms that enable stable locomotion and speed regulation, addressing a problem that has long captivated researchers. He further advanced the field with "Kalman filter for angle estimation using dual inertial measurement units on unicycle robot" (13 citations), where he introduced a robust method for precise angle estimation by fusing data from multiple IMUs. This work significantly improves the reliability of state estimation in unstable platforms, a critical challenge in unicycle robotics. Charel’s research has not only deepened theoretical understanding of inverted pendulum control but also provided practical solutions for real-world applications, establishing him as a key figure in the development of agile, single-wheel robotic systems.