Browsing Faculty of Engineering by Author "Barkana, D. E."
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Centroidal momentum observer: Towards whole-body robust control of legged robots subject to uncertainties
Oral, Dilay Yesildağ; Barkana, D. E.; Uğurlu, Regaip Barkan (IEEE, 2022)This paper aims to provide robust dynamic motion control and eliminate parameter uncertainty in single-legged robots with a centroidal momentum-based control algorithm. In order to ensure the continuity of the movement ... -
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 ...
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