Zeki Y. Bayraktaroglu

About

Dr. Zeki Y. Bayraktaroglu is a leading figure in biologically inspired robotics, with his work spanning snake-like locomotion, spherical rolling robots, and rehabilitation robotics. His most influential contribution is the development of a decoupled dynamics approach for modeling and controlling spherical rolling robots, a 2011 paper that has garnered 108 citations and established a foundational framework for this unique class of mobile robots. Dr. Bayraktaroglu’s deep expertise in snake-like locomotion is evident through multiple highly cited works, including a 2008 study on wheel-less snake robot experimentation (78 citations) and a 2004 paper introducing a novel push-point approach to understanding lateral undulation (42 citations). He has also made significant strides in medical robotics, designing a cable-driven rehabilitation robot capable of exercising both upper and lower limbs without requiring orthoses (30 citations). His technical breadth extends to industrial robotics, where he has developed observer-based friction compensation for heavy-duty parallel robots and applied convex optimization for dynamic model identification of the Stäubli RX-160. Through these contributions, Dr. Bayraktaroglu has accumulated over 330 citations, demonstrating his lasting impact on the fields of bio-robotics, rehabilitation engineering, and industrial automation.

Research Focus

Key Achievements

Top Papers

1. 1
   Modeling and control of a spherical rolling robot: a decoupled dynamics approach

   108 citations · 2011
2. 2
   Snake-like locomotion: Experimentations with a biologically inspired wheel-less snake robot

   78 citations · 2008
3. 3
   Understanding Snakelike Locomotion Through a Novel Push-Point Approach

   42 citations · 2004
4. 4
   Design and Control of Biologically Inspired Wheel-less Snake-like Robot

   39 citations · 2006
5. 5
   Design and control of a cable-driven rehabilitation robot for upper and lower limbs

   30 citations · 2021
6. 6
   Observer-based friction compensation in heavy-duty parallel robot control

   12 citations · 2021
7. 7
   Consistent dynamic model identification of the Stäubli RX-160 industrial robot using convex optimization method

   9 citations · 2021
8. 8
   Snake-like locomotion: integration of geometry and kineto-statics

   8 citations · 2000
9. 9
   A modular bilateral haptic control framework for teleoperation of robots

   5 citations · 2018
10. 10
    Design and Development of the I.T.U. Biped Robot

    3 citations · 2018

Key Collaborators

Contact & Links