Browsing by Author "Özçınar, Erim Can"
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Benchmarking torque control strategies for a torsion-based series elastic actuator
Uğurlu, Regaip Barkan; Sarıyıldız, E.; Kansızoğlu, Ahmet Talha; Özçınar, Erim Can; Coruk, Sinan (IEEE, 2022-06)The diversity in torque-controlled actuators has enabled researchers to address numerous physical human-robot interaction applications with enhanced safety, dependability, and interaction capability [1]. Yet, only a few ... -
Contact force distribution using centroidal momentum feedback for quadruped locomotion
Özçınar, Erim Can; Bebek, Özkan; Uğurlu, Regaip Barkan (IEEE, 2023)This paper proposes a method to distribute contact forces to eliminate undesired torso orientation fluctuations and regulate heading during dynamic quadruped trot-walking motion. The proposed method makes use of centroidal ... -
Tepki kuvveti gözetleyici tabanlı tork kontrolü
Özçınar, Erim Can; Uğurlu, Regaip Barkan (Gazi Üniversitesi, 2021-12)In this article, a reaction force observer-based torque controller was designed and experimentally implemented to a non-backdrivable actuator unit. Torque control is of importance when considering physical human-robot ... -
Topology optimization-based design and development of a compact actuator with a high torque-to-weight ratio for quadrupeds
Akın, Barış; Özçınar, Erim Can; Balcı, Barış; Emre, Sinan; Şendur, Polat; Bebek, Özkan; Ünal, Ramazan; Uğurlu, Regaip Barkan (IEEE, 2022)This paper presents the design, development, and testing procedures for a compact actuator with a high torque-to-weight ratio, generally aimed to actuate legged robots, e.g., quadrupeds. The main goal of designing the ...
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