Browsing Mechanical Engineering by Author "(ORCID 0000-0002-3051-6038 & YÖK ID 45227) Öztop, Erhan"
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Adaptive shared control with human intention estimation for human agent collaboration
Amirshirzad, Negin; Uğur, E.; Bebek, Özkan; Öztop, Erhan (IEEE, 2022)In this paper an adaptive shared control frame-work for human agent collaboration is introduced. In this framework the agent predicts the human intention with a confidence factor that also serves as the control blending ... -
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 ... -
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 ... -
Learning medical suturing primitives for autonomous suturing
Amirshirzad, Negin; Sunal, Begüm; Bebek, Özkan; Öztop, Erhan (IEEE, 2021)This paper focuses on a learning from demonstration approach for autonomous medical suturing. A conditional neural network is used to learn and generate suturing primitives trajectories which were conditioned on desired ...
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