Browsing Faculty of Engineering by OzU Authors "Uğurlu, Regaip Barkan"
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3-D dynamic walking trajectory generation for a bipedal exoskeleton with underactuated legs: A proof of concept
Soliman, Ahmed Fahmy; Şendur, Polat; Uğurlu, Regaip Barkan (IEEE, 2019-06)This paper presents a framework to address three dimensional (3-D) dynamic walking for a bipedal exoskeleton with underactuated legs. To achieve this goal, the framework is constructed via a trajectory generator and an ... -
Application of a disturbance observer based controller to improve vehicle ride
Şendur, Polat; Uğurlu, Regaip Barkan (Canadian Acoustical Association, 2019)In this paper the application of a disturbance observer based control algorithm is proposed to improve the vehicle ride performance of a vehicle that has magnetorheological damper (MR Damper) suspension. The vehicle is ... -
Assessments on the improved modelling for pneumatic artificial muscle actuators
Peternel, L.; Uğurlu, Regaip Barkan; Babic, J.; Morimoto, J. (IEEE, 2015)In this paper, we present an analysis regarding the pneumatic air muscle modelling, with a particular emphasis on the exoskeleton robot control. We propose two calibration approaches for obtaining the model identification ... -
Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence
Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Emre, Sinan; Derman, Mustafa; Çoruk, Sinan; Soliman, Ahmed Fahmy; Şendur, Polat; Uğurlu, Regaip Barkan (IEEE, 2019-06)In this paper, we present our research study concerning the design and development of an exoskeleton that aims to provide 3D walking support with minimum number of actuators. Following a prior simulation study, the joint ... -
A comparison study on observer-based force control of series elastic actuators
Kansızoğlu, Ahmet Talha; Sariyildiz, E.; Uğurlu, Regaip Barkan (IEEE, 2018)This paper presents a comparison study for the robust force control of series elastic actuators (SEAs). In most robotics systems, SEAs are used as an essential actuation method due to the benefits such as lower reflected ... -
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 ... -
An experimental study of a bluetooth communication system for robot motion control
Dalgiç, Oğuzhan; Tekin, Ahmet; Uğurlu, Regaip Barkan (IEEE, 2019)This paper presents a method that aims to reduce the complex cabling problem in robotics applications, so as to prevent difficulties in troubleshooting processes and failures in case of cable breaks. Examples in the ... -
High power series elastic actuator development for torque-controlled exoskeletons
Yıldırım, Mehmet Can; Kansızoğlu, Ahmet Talha; Şendur, Polat; Uğurlu, Regaip Barkan (Springer Nature, 2019)This paper presents the development procedures of a high power series elastic actuator that can be used in torque-controlled exoskeleton applications as a high-fidelity torque source. In order to provide a high torque ... -
Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid
Kormushev, P.; Uğurlu, Regaip Barkan; Caldwell, D. G.; Tsagarakis, N. G. (Springer Nature, 2019-01)Modern humanoid robots include not only active compliance but also passive compliance. Apart from improved safety and dependability, availability of passive elements, such as springs, opens up new possibilities for improving ... -
On the EMG-based torque estimation for humans coupled with a force-controlled elbow exoskeleton
Ullauri, J. B.; Petenel, L.; Uğurlu, Regaip Barkan; Yamada, Y.; Morimoto, J. (IEEE, 2015)Exoskeletons are successful at supporting human motion only when the necessary amount of power is provided at the right time. Exoskeleton control based on EMG signals can be utilized to command the required amount of support ... -
Optimal stiffness tuning for a lower body exoskeleton with spring-supported passive joints
Yıldırım, Mehmet Can; Şendur, Polat; Soliman, Ahmed Fahmy; Uğurlu, Regaip Barkan (IEEE, 2018-10-09)This paper presents a framework to optimally tune the stiffness values of spring-supported passive joints that are included in lower body exoskeletons. First, a dynamic model of a combined human-exoskeleton system was ... -
Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on roboCat-1 and hyQ
Uğurlu, Regaip Barkan; Havoutis, I.; Semini, C.; Kayamori, K.; Caldwell, D. G.; Narikiyo, T. (Springer Science+Business Media, 2015-04)In this paper, we introduce a method that synergistically combines an analytical pattern generator and a feedback controller frame, which are developed for the purpose of synthesizing dynamic quadrupedal trot-walking ... -
Proof of concept for robot-aided upper limb rehabilitation using disturbance observers
Uğurlu, Regaip Barkan; Nishimura, M.; Hyodo, K.; Kawanishi, M.; Narikiyo, T. (IEEE, 2015-02)This paper presents a wearable upper body exoskeleton system with a model-based compensation control framework to support robot-aided shoulder-elbow rehabilitation and power assistance tasks. To eliminate the need for EMG ... -
Seri elastik eyleyiciler için mekanik tasarım süreçleri
Yıldırım, Mehmet Can; Şendur, Polat; Uğurlu, Regaip Barkan (Pamukkale Üniversitesi, 2019)Bu makalede tork kontrollü robot eklem tahriki için robotik literatüründe sıkça tercih edilen seri elastik eyleyici (SEE) üniteleri için geliştirilen tasarım süreçleri konu edilmiştir. Bilgisayar destekli tasarım ve benzetim ... -
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 ... -
A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance
Uğurlu, Regaip Barkan; Acer, M.; Barkana, D. E.; Gocek, I.; Kucukyilmaz, A.; Arslan, Y. Z.; Basturk, H.; Samur, E.; Ugur, E.; Ünal, Ramazan; Bebek, Özkan (IEEE, 2019-06)In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which ... -
A stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observer
Sarıyıldız, E.; Sekiguchi, H.; Nozaki, T.; Uğurlu, Regaip Barkan; Ohnishi, K. (IEEE, 2018-10)This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using disturbance observer (DOb). It is shown that if the nominal inertia matrix is properly ... -
Stable control of force, position, and stiffness for robot joints powered via pneumatic muscles
Uğurlu, Regaip Barkan; Forni, P.; Doppmann, C.; Sarıyıldız, E.; Morimoto, J. (IEEE, 2019-12)This paper proposes a novel controller framework for antagonistically driven pneumatic artificial muscle (PAM) actuators. The proposed controller can be stably configured in both torque-stiffness control and position-stiffness ... -
Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller
Uğurlu, Regaip Barkan; Forni, P.; Doppmann, C.; Morimoto, J. (IEEE, 2015)This paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, ... -
Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model
Doppmann, C.; Uğurlu, Regaip Barkan; Hamaya, M.; Teramae, T.; Noda, T.; Morimoto, J. (IEEE, 2015)This paper presents a biologically-inspired real-time balance recovery control strategy that is applied to a lower body exoskeleton with variable physical stiffness actuators at its ankle joints. For this purpose, a torsional ...
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