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Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model
(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 ...
Environmental force estimation for a robotic hand : compliant contact detection
(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 ...
A comparison study on observer-based force control of series elastic actuators
(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 ...
Mars gezgini prototipi Merih-2
(Gazi Üniversitesi, 2018-12)
Merih-2, Özyeğin Üniversitesi Rover Takımı tarafından University Rover Challenge 2016 ve European Rover Challenge 2016’ya katılmak ve Mars koşullarında görev yapmak için tasarlanan gezgindir. Sürüş için Merih-2’nin 6 adet ...
Tepki kuvveti gözetleyici tabanlı tork kontrolü
(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 ...
Exploring the performance limits of MOF/polymer MMMs for O2/N2 separation using computational screening
(Elsevier, 2021-01-15)
Air separation is one of the most challenging separations because of the very similar molecular dimensions of gas molecules. We used a high-throughput computational screening approach to identify the upper performance ...
First-principle diffraction simulations as a tool to solve the nanodiffraction problem
(International Union of Crystallography, 2021-08)
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Optical and radiative properties of individual and hybrid nanosuspensions: The effects of similar and dissimilar particle agglomerates on thermal radiation
(Yildiz Technical University, 2021-02)
Nanosuspensions are proposed for use in improving the thermal efficiency of different thermal systems; including solar thermal power plants. Because of their excellent and unique thermo-optical properties, which are the ...
Temperature-dependent particle stability behavior and its effect on radiative transfer in water/SiO2 nanofluids
(Yildiz Technical University, 2021-09)
Radiative transfer is one of the methods of energy transport that includes in a wide range of applications and we feel it in our daily lives. Thermal radiation transfer plays an effective role in the utilization of renewable ...
Force reference extraction via human interaction for a robotic polishing task: Force-induced motion
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 ...
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