Browsing Faculty of Engineering by OzU Authors "Öztop, Erhan"
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Parental scaffolding as a bootstrapping mechanism for learning grasp affordances and imitation skills
Ugur, E.; Nagai, Y.; Celikkanat, H.; Öztop, Erhan (Cambridge University Press, 2015-06)Parental scaffolding is an important mechanism that speeds up infant sensorimotor development. Infants pay stronger attention to the features of the objects highlighted by parents, and their manipulation skills develop ... -
Real-time decoding of arm kinematics during grasping based on F5 neural spike data
Ashena, Narges; Papadourakis, V.; Raos, V.; Öztop, Erhan (Springer International Publishing, 2017)Several studies have shown that the information related to grip type, object identity and kinematics of monkey grasping actions is available in macaque cortical areas of F5, MI, and AIP. In particular, these studies show ... -
Reinforcement learning to adjust parametrized motor primitives to new situations
Kober, J.; Wilhelm, A.; Öztop, Erhan; Peters, J. (Springer Science+Business Media, 2012-11)Humans manage to adapt learned movements very quickly to new situations by generalizing learned behaviors from similar situations. In contrast, robots currently often need to re-learn the complete movement. In this paper, ... -
Robotic grasping and manipulation through human visuomotor learning
Moore, B.; Öztop, Erhan (Elsevier, 2012-03)A major goal of robotics research is to develop techniques that allow non-experts to teach robots dexterous skills. In this paper, we report our progress on the development of a framework which exploits human sensorimotor ... -
Self-discovery of motor primitives and learning grasp affordances
Uğur, E.; Şahin, E.; Öztop, Erhan (IEEE, 2012)Human infants practice their initial, seemingly random arm movements for transforming them into voluntary reaching and grasping actions. With the developing perceptual abilities, infants further explore their environment ... -
Sequential decision making based on emergent emotion for a humanoid robot
Kirtay, M.; Vannucci, L.; Falotico, E.; Öztop, Erhan; Laschi, C. (IEEE, 2017)Certain emotions and moods can be manifestations of complex and costly neural computations that our brain wants to avoid. Instead of reaching an optimal decision based on the facts, we find it often easier and sometimes ... -
A shared control method for online human-in-the-loop robot learning based on Locally Weighted Regression
Peternel, L.; Öztop, Erhan; Babič, J. (IEEE, 2016)We propose a novel method that arbitrates the control between the human and the robot actors in a teaching-by-demonstration setting to form synergy between the two and facilitate effective skill synthesis on the robot. We ... -
Shoulder glenohumeral elevation estimation based on upper arm orientation
Hamdan, Sara; Öztop, Erhan; Furukawa, J.-I.; Morimoto, J.; Uğurlu, Regaip Barkan (IEEE, 2018-10-26)In this paper, the shoulder glenohumeral displacement during the movement of the upper arm is studied. Four modeling approaches were examined and compared to estimate the humeral head elevation (vertical displacement) and ... -
Simultaneous human-robot adaptation for effective skill transfer
Zamani, Mohammad Ali; Öztop, Erhan (IEEE, 2015)In this paper, we propose and implement a human-in-the loop robot skill synthesis framework that involves simultaneous adaptation of the human and the robot. In this framework, the human demonstrator learns to control the ... -
Staged development of robot skills: behavior formation, affordance learning and imitation
Ugur, E.; Nagai, Y.; Sahin, E.; Öztop, Erhan (IEEE, 2015-06)Inspired by infant development, we propose a three staged developmental framework for an anthropomorphic robot manipulator. In the first stage, the robot is initialized with a basic reach-and- enclose-on-contact movement ... -
Symbol emergence in cognitive developmental systems: A survey
Taniguchi, T.; Uğur, E.; Hoffmann, M.; Jamone, L.; Nagai, T.; Rosman, B.; Matsuka, T.; Iwahashi, N.; Öztop, Erhan; Piater, J.; Worgotter, F. (IEEE, 2019-12)Humans use signs, e.g., sentences in a spoken language, for communication and thought. Hence, symbol systems like language are crucial for our communication with other agents and adaptation to our real-world environment. ... -
Synergistic human-robot shared control via human goal estimation
Amirshirzad, Negin; Kaya, Osman; Öztop, Erhan (IEEE, 2016)In this paper, we propose and implement a synergistic human-robot collaboration framework, where the robotic system estimates the intent or goal of the human operator while being controlled by the human in real-time. Having ... -
Teaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approach
Peternel, L.; Petric, T.; Öztop, Erhan; Babic, J. (Springer Science+Business Media, 2014-01)We propose an approach to efficiently teach robots how to perform dynamic anipulation tasks in cooperation with a human partner. The approach utilises human sensorimotor learning ability where the human tutor controls the ... -
Yapay yaşam simülasyonunda hayatta kalmak
Dev, Onur Barış; Aydoğan, Reyhan; Öztop, Erhan (IEEE, 2017)Yapay yaşam, doğal yaşamdaki mekanizmaları bilgisayar ortamında taklit ederek bir yandan canlılık hakkında yeni bilgiler üretirken, diğer yandan ise mühendislik alanlarına katkı vermektedir. Bu makale geliştirdiğimiz yapay ...
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