Research Assistant · Kocaeli University
Haydar
Kerem
Karhan
I'm a research assistant in mechatronics engineering at Kocaeli University, working on robotics, linear and nonlinear control, and real-time control systems. My recent work spans robot kinematics, underactuated pendulum systems, and camera-based state estimation. I'm currently finalizing my master's degree and looking for PhD opportunities worldwide.
Latest project
Trajectory Optimization: Indirect and Direct MethodsA tutorial on optimal control from two directions: deriving Pontryagin's necessary conditions and solving them by shooting, then transcribing the whole problem into a nonlinear program and swinging up a double-link cart pendulum.
Selected publication
Automatic determination of the Denavit–Hartenberg parameters for the forward kinematics of all serial robots: Novel Kinematics Toolbox
Machines, 13(10), 2025 — all publications