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Ibrahim Kurban Ozaslan
Junior Robotics & Controls Researcher specializing in optimization, MPC, and reinforcement learning
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About
Robotics software candidate who designed and implemented a hierarchical motion-planning and whole-body control pipeline for a 37-state Spot robot to traverse complex terrain, using Graph of Convex Sets for safe footstep selection plus optimization-based IK and nonlinear trajectory optimization for joint trajectories/contact forces. Strong in optimization-heavy robotics workflows (PyDrake, MATLAB/Simulink) and methodical debugging down to signal-level and numerical stability; has not used ROS/ROS2 yet.
Experience
Education
Key Strengths
- Built hierarchical motion planner for 37-state Spot robot for dynamic complex-terrain traversal
- Advanced optimization-driven robotics pipeline (GCS footstep selection, IK, nonlinear trajectory optimization, contact forces)
- Whole-body control integration combining optimization-based stance torques with Cartesian PD swing-leg control
- Structured, signal-level debugging methodology including model validation and numerical stability checks
- Uses hierarchical decomposition to manage complex robotics optimization problems
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