U. Sezgin

Papers

Total Citations

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About

U. Sezgin is a pioneering figure in the field of robotic kinematics, with a focused expertise in collision avoidance and redundancy utilization for multi-manipulator systems. Their major contributions center on solving the under-specified inverse-kinematic problem for multiple-redundant manipulators, a critical challenge in advanced robotics. Sezgin introduced the innovative Maximum Distance Criterion (MXDC), a novel objective function that maximizes the sum of distances between key points along manipulator kinematic structures to prevent collisions. This work, detailed in their 1997 paper "Collision Avoidance in Multiple-Redundant Manipulators" (13 citations), provides a foundational framework for safe, coordinated motion planning. Additionally, Sezgin developed two distinct obstacle avoidance criteria for planar robot manipulators with revolute joints, as presented in "Redundancy utilization for obstacle avoidance of planar robot manipulators" (10 citations). These criteria leverage kinematic redundancy to dynamically adjust manipulator configurations while tracking predetermined end-effector paths, using instantaneous distances between selected points to avoid obstacles. Though their citation counts reflect a specialized niche, Sezgin’s research is instrumental for engineers designing robust, collision-free robotic systems in cluttered environments, offering practical solutions that continue to inform modern robotics and automation research.