Sharafatdin Yessirkepov
Papers
10
Total Citations
42
H-Index
5
About
Sharafatdin Yessirkepov is a robotics researcher specializing in humanoid and bipedal robot design, balance control, and advanced joint mechanisms. Working within the Humanoid Robotics Laboratory at Nazarbayev University, his research spans mechanical design, dynamic modeling, and intelligent control systems for legged robots. His most-cited contribution, a computationally efficient balance control algorithm combining Linear Inverted Pendulum (LIP) modeling with Zero Moment Point (ZMP) estimation, has garnered 10 citations and established a practical framework for stable biped locomotion. Yessirkepov has made significant strides in developing lightweight, low-cost full-size bipedal platforms — most notably the NU-Biped series — demonstrating that capable humanoid robots can be prototyped affordably without sacrificing performance. His work on novel joint mechanisms, including actuated spherical joints, tendon-driven shoulder joints, and parallel elastic designs, reflects a sustained effort to push the boundaries of humanoid dexterity and compliance. More recently, he has explored reservoir-based Recurrent Neural Networks for real-time robot dynamics identification, bridging machine learning with classical robotics. With over 40 cumulative citations across a growing publication record, Yessirkepov represents an emerging voice in affordable, intelligent humanoid robotics research.
Research Focus
Key Achievements
Top Papers
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- 4An Actuated Spherical Joint for Humanoid Robotics Applications5 citations · 2019
- 5Development of a Shoulder Joint for Humanoid Robotics Application5 citations · 2021
- 6Fast Prototyping and Testing of a New Full Scale Bipedal Robot3 citations · 2022
- 7An Elastic Shoulder Joint for Humanoid Robotics Application2 citations · 2023
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