Yes, and Duncan Jones has said as much in interviews. For example,
The robot in your film is fairly reminiscent of Hal from 2001: A Space Odyssey. Was Gerty an intentional homage to that film?
Yes. But there are many homages in the film, to many sci-fi films. Maybe more than the casual observer will pick up on!
The thing is, people who haven’t seen the film, but viewed the trailer, pick up on the 2001 vibe much more than people who have seen it. Mainly because Gerty, our robot, has a single lens eye, and a soothing voice. When you see the film though, you understand that this is a very different story, and Gerty is a very different robot than Hal. The aesthetic similarities are purely a loving homage.
A short SyFy article also quotes Jones on the similarities.
"We could have either completely ignored that or we could have ... accepted that people are going to make that connection and then sort of take their expectation and take it in a very different direction," Jones says.
It seems that Jones and company felt that comparisons were inevitable. Rather than try to avoid them, they embraced the idea while establishing a very different character for their film.