Browsing by Author "Sariyildiz, E."
Now showing items 1-5 of 5
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Active compliance control reduces upper body effort in exoskeleton-supported walking
Uğurlu, Regaip Barkan; Oshima, H.; Sariyildiz, E.; Narildyo, T.; Babic, J. (IEEE, 2020-04)This article presents a locomotion controller for lower limb exoskeletons so as to enable the combined robot and user system to exhibit compliant walking characteristics when interacting with the environment. This is of ... -
Agile and stable running locomotion control for an untethered and one-legged hopping robot
Uğurlu, Regaip Barkan; Sariyildiz, E.; Kawasaki, T.; Narikiyo, T. (Springer, 2021-09)This paper is aimed at presenting a locomotion control framework to realize agile and robust locomotion behaviors on conventional stiff-by-nature legged robots. First, a trajectory generator that is capable of characterizing ... -
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 ... -
Design and control of a novel variable stiffness series elastic actuator
Sariyildiz, E.; Mutlu, R.; Roberts, J.; Kuo, C. H.; Uğurlu, Regaip Barkan (IEEE, 2023-06)This article expounds the design and control of a new variable stiffness series elastic actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimize the ... -
A high-torque density compliant actuator design for physical robot environment interaction
Dunwoodie, E.; Mutlu, R.; Uğurlu, Regaip Barkan; Yıldırım, Mehmet Can; Uzunovic, T.; Sariyildiz, E. (IEEE, 2020)Compared to the traditional industrial robots that use rigid actuators, the advanced robotic systems are mobile and physically interact with unknown and dynamic environments. Therefore, they need intrinsically safe and ...
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