Browsing by Author "Kaya, Osman"

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Dexterous manipulation with a robotic hand

Kaya, Osman (2017-06)

In robotics, flexible and the dexterous manipulation are one of the most desired type of skills. To this end, we investigate dexterous manipulation skills on an anthropomorphic robot hand. In the first part of the study, ...
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 ...
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 ...
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 ...