P. Orhant

About

P. Orhant is a pioneering researcher in the field of robotic contact and impact dynamics, whose work has fundamentally shaped how engineers understand and control robots during physical interaction. His primary research areas include impact modeling, contact stability analysis, and the transition phase between free motion and constrained robotic tasks. Orhant’s most significant contribution is his rigorous mathematical framework for modeling impulsive collisions, notably using Schwartz’s distributions to unify impulsive and continuous dynamics—a breakthrough detailed in his highly cited 2002 paper (19 citations). His foundational 1998 study on contact stability analysis of a one-degree-of-freedom robot (25 citations) remains a key reference for understanding the conditions that ensure stable contact in robotic systems. Orhant also advanced the field by establishing sufficient conditions for asymptotic convergence in motion-controlled manipulators interacting with compliant environments. Though his citation counts are modest, his work is deeply influential among specialists in robotic manipulation and control, providing essential theoretical tools for designing robots that can safely and reliably make and break contact with their surroundings.

Research Focus

Key Achievements

Top Papers

1. 1
   Contact Stability Analysis of a One Degree-of-Freedom Robot

   25 citations · 1998
2. 2
   On the transition phase in robotics: impact models, dynamics and control

   19 citations · 2002
3. 3
   On the transition phase in robotics- Part 1: Impact models and dynamics

   6 citations · 1994
4. 4
   On the transition phase in robotics- Part 2: Control

   4 citations · 1994
5. 5
   On the stability of a simple contact-non contact robotic task

   2 citations · 2002

Key Collaborators

Contact & Links