Browsing Faculty of Engineering by OzU Authors "Öztop, Erhan"
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Action and language mechanisms in the brain: data, models and neuroinformatics
Arbib, M. A.; Bonaiuto, J. J.; Bornkessel-Schlesewsky, I.; Kemmerer, D.; MacWhinney, B.; Årup Nielsen, F.; Öztop, Erhan (Springer Science+Business Media, 2014-01)We assess the challenges of studying action and language mechanisms in the brain, both singly and in relation to each other to provide a novel perspective on neuroinformatics, integrating the development of databases for ... -
Adaptive inverse kinematics of a 9-DOF surgical robot for effective manipulation
Sunal, Begüm; Öztop, Erhan; Bebek, Özkan (IEEE, 2019)In a robotic-assisted surgical system, fine and precise movement is essential. However, when the user wishes to cover a wider area during tele-operation, the configuration designed for precise motion may restrict the user ... -
Affordance-based altruistic robotic architecture for human–robot collaboration
Imre, M.; Öztop, Erhan; Nagai, Y.; Ugur, E. (Sage, 2019-08)This article proposes a computational model for altruistic behavior, shows its implementation on a physical robot, and presents the results of human-robot interaction experiments conducted with the implemented system. ... -
Algorithms for obtaining parsimonious higher order neurons
Sezener, C. E.; Öztop, Erhan (Springer International Publishing, 2017)Most neurons in the central nervous system exhibit all-or-none firing behavior. This makes Boolean Functions (BFs) tractable candidates for representing computations performed by neurons, especially at finer time scales, ... -
Cognition-enabled robot manipulation in human environments: requirements, recent work, and open problems
Ersen, M.; Öztop, Erhan; Sariel, S. (IEEE, 2017-09)Service robots are expected to play an important role in our daily lives as our companions in home and work environments in the near future. An important requirement for fulfilling this expectation is to equip robots with ... -
Cooperative multi-task assignment for heterogonous UAVs
Özalp, N.; Ayan, U.; Öztop, Erhan (IEEE, 2015)This research is focused on the cooperative multi-task assignment problem for heterogeneous UAVs, where a set of multiple tasks, each requiring a predetermined number of UAVs, have to be completed at specific locations. ... -
Dynamic movement primitives for human movement recognition
Pehlivan, Alp Burak; Öztop, Erhan (IEEE, 2015)Dynamic Movement Primitives (DMPs)-originally a method for movement trajectory generation [1] has been also used for recognition tasks [2, 3]. However there has not been a systematic comparison between other recognition ... -
Effect regulated projection of robot’s action space for production and prediction of manipulation primitives through learning progress and predictability based exploration
Bugur, S.; Öztop, Erhan; Nagai, Y.; Ugur, E. (IEEE, 2019)In this study, we propose an effective action parameter exploration mechanism that enables efficient discovery of robot actions through interacting with objects in a simulated table-top environment. For this, the robot ... -
Effective robot skill synthesis via divided control
Kaya, Osman; Öztop, Erhan (IEEE, 2018-07-02)Learning from demonstration is a powerful method for obtaining task skills, which aim to eliminate the need for explicit robot programming. Classically, the tasks are demonstrated to the robot by means of either recorded ... -
Emergent emotion via neural computational energy conservation on a humanoid robot
Kırtay, Murat; Öztop, Erhan (IEEE, 2013)This paper presents our initial work on how emotion based behaviors may emerge through computational mechanisms. We hold that in addition to basic emotions such as anger and fear that serves bodily well being of the organism, ... -
Emotion as an emergent phenomenon of the neurocomputational energy regulation mechanism of a cognitive agent in a decision-making task
Kırtay, M.; Vannucci, L.; Albanese, U.; Laschi, C.; Öztop, Erhan; Falotico, E. (Sage, 2019)Biological agents need to complete perception-action cycles to perform various cognitive and biological tasks such as maximizing their wellbeing and their chances of genetic continuation. However, the processes performed ... -
Environmental force estimation for a robotic hand : compliant contact detection
Kaya, Osman; Yıldırım, Mehmet Can; Kuzuluk, Nisan; Çiçek, Emre; Bebek, Özkan; Öztop, Erhan; Uğurlu, Regaip Barkan (IEEE, 2015)This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer ... -
Force reference extraction via human interaction for a robotic polishing task: force-induced motion
Hamdan, Sara; Öztop, Erhan; Uğurlu, Regaip Barkan (IEEE, 2019)In this paper, a method to control a manipulator using force-induced trajectory is proposed. The trajectory is learned from an operator doing the polishing task using a tool attached to the robot's end effector. The learning ... -
HMM bazlı 3 boyutlu insan hareketi tanıma ile insan ve robotun ortak çalışması
Pehlivan, Alp Burak; Öztop, Erhan (IEEE, 2014)We offer a system for a human-robot cooperation with natural communication in order to make using of robots in human-interactive tasks easier and more effective. This system includes a system with 3D motion capture cameras, ... -
Human adaptation to human–robot shared control
Amirshirzad, Negin; Kumru, Asiye; Öztop, Erhan (IEEE, 2019-04)Human-in-the-loop robot control systems naturally provide the means for synergistic human-robot collaboration through control sharing. The expectation in such a system is that the strengths of each partner are combined to ... -
Human motor adaptation in whole body motion
Babic, J.; Öztop, Erhan; Kawato, M. (2016)The main role of the sensorimotor system of an organism is to increase the survival of the species. Therefore, to understand the adaptation and optimality mechanisms of motor control, it is necessary to study the sensorimotor ... -
Human-in-the-loop control and task learning for pneumatically actuated muscle based robots
Teramae, T.; Ishihara, K.; Babič, J.; Morimoto, J.; Öztop, Erhan (Frontiers Media, 2018-11-06)Pneumatically actuated muscles (PAMs) provide a low cost, lightweight, and high power-To-weight ratio solution for many robotic applications. In addition, the antagonist pair configuration for robotic arms make it open to ... -
Learning to grasp with parental scaffolding
Ugur, E.; Celikkanat, H.; Şahin, E.; Nagai, Y.; Öztop, Erhan (IEEE, 2011)Parental scaffolding is an important mechanism utilized by infants during their development. Infants, for example, pay stronger attention to the features of objects highlighted by parents and learn the way of manipulating ... -
Minimal sign representation of boolean functions: algorithms and exact results for low dimensions
Sezener, Can Eren; Öztop, Erhan (MIT Press, 2015-08)Boolean functions (BFs) are central in many fields of engineering and mathematics, such as cryptography, circuit design, and combinatorics. Moreover, they provide a simple framework for studying neural computation mechanisms ... -
Mirror neurons: Functions, mechanisms and models
Öztop, Erhan; Kawato, M.; Arbib, M. A. (Elsevier, 2013-04-12)Mirror neurons for manipulation fire both when the animal manipulates an object in a specific way and when it sees another animal (or the experimenter) perform an action that is more or less similar. Such neurons were ...
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