Barkan Ugurlu

Publication Activity (10 Years)

Years Active: 2009-2024
Publications (10 Years): 26

Top Topics

Top Venues

Publications

Deniz Yilmaz, Barkan Ugurlu, Erhan Öztop
Human-in-the-Loop Training Leads to Faster Skill Acquisition and Adaptation in Reinforcement Learning-Based Robot Control. AMC (2024)
Burak Ozkaynak, Barkan Ugurlu
Preview Control-based Jumping and Spot-Jogging Trajectory Generation for Quadruped Robots. INDIN (2023)
Erim Can Ozcinar, Ozkan Bebek, Barkan Ugurlu
Contact Force Distribution Using Centroidal Momentum Feedback for Quadruped Locomotion. ICM (2023)
Ebru Kilic-Bebek, Kostas Nizamis, Mark Vlutters, Ozkan Bebek, Zeynep G. Karapars, Ramazan Unal, Deniz Yilmaz, Barkan Ugurlu
Transdisciplinarity as a Learning Challenge: Student Experiences and Outcomes in an Innovative Course on Wearable and Collaborative Robotics. IEEE Trans. Educ. 66 (3) (2023)
Emre Sariyildiz, Rahim Mutlu, Jon Roberts, Chin-Hsing Kuo, Barkan Ugurlu
Design and Control of a Novel Variable Stiffness Series Elastic Actuator. CoRR (2023)
Barkan Ugurlu, Emre Sariyildiz, Ahmet Talha Kansizoglu, Erim Can Ozcinar, Sinan Coruk
Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator. IEEE Robotics Autom. Mag. 29 (2) (2022)
Mustafa Derman, Ahmed Fahmy Soliman, Alihan Kuru, Suleyman Can Cevik, Ramazan Unal, Ozkan Bebek, Barkan Ugurlu
Simulation-based Design and Locomotion Control Implementation for a Lower Body Exoskeleton. ICPS (2022)
Ahmed Fahmy Soliman, Barkan Ugurlu
Robust Locomotion Control of a Self-Balancing and Underactuated Bipedal Exoskeleton: Task Prioritization and Feedback Control. IEEE Robotics Autom. Lett. 6 (3) (2021)
Suleyman Can Cevik, Mustafa Derman, Ramazan Unal, Barkan Ugurlu, Ozkan Bebek
A Custom Brace Design to Connect a User Limb to an Exoskeleton Link with Minimal Discomfort. INDIN (2021)
Dilay Yesildag Oral, Duygun Erol Barkana, Barkan Ugurlu
Centroidal Momentum Observer: Towards Whole-Body Robust Control of Legged Robots Subject to Uncertainties. AMC (2021)
Barkan Ugurlu, Emre Sariyildiz, Takao Kawasaki, Tatsuo Narikiyo
Agile and stable running locomotion control for an untethered and one-legged hopping robot. Auton. Robots 45 (6) (2021)
Sinan Coruk, Mehmet Can Yildirim, Ahmet Talha Kansizoglu, Oguzhan Dalgic, Barkan Ugurlu
Design and Development of a Powered Upper Limb Exoskeleton with High Payload Capacity for Industrial Operations. ICHMS (2020)
Evan Dunwoodie, Rahim Mutlu, Barkan Ugurlu, Mehmet Can Yildirim, Tarik Uzunovic, Emre Sariyildiz
A High-Torque Density Compliant Actuator Design for Physical Robot Environment Interaction. AMC (2020)
Barkan Ugurlu, Hironori Oshima, Emre Sariyildiz, Tatsuo Narikiyo, Jan Babic
Active Compliance Control Reduces Upper Body Effort in Exoskeleton-Supported Walking. IEEE Trans. Hum. Mach. Syst. 50 (2) (2020)
Mehmet Can Yildirim, Ahmet Talha Kansizoglu, Sinan Emre, Mustafa Derman, Sinan Coruk, Ahmed Fahmy Soliman, Polat Sendur, Barkan Ugurlu
Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-existence. ICORR (2019)
Barkan Ugurlu, Merve Acer, Duygun Erol Barkana, Ikilem Gocek, Ayse Küçükyilmaz, Yunus Ziya Arslan, Halil I. Basturk, Evren Samur, Emre Ugur, Ramazan Unal, Ozkan Bebek
A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance. ICORR (2019)
Emre Sariyildiz, Hiromu Sekiguchi, Takahiro Nozaki, Barkan Ugurlu, Kouhei Ohnishi
A Stability Analysis for the Acceleration-based Robust Position Control of Robot Manipulators via Disturbance Observer. CoRR (2019)
Barkan Ugurlu, Paolo Forni, Corinne Doppmann, Emre Sariyildiz, Jun Morimoto
Stable Control of Force, Position, and Stiffness for Robot Joints Powered via Pneumatic Muscles. IEEE Trans. Ind. Informatics 15 (12) (2019)
Oguzhan Dalgic, Ahmet Tekin, Barkan Ugurlu
An Experimental Study of a Bluetooth Communication System for Robot Motion Control. IECON (2019)
Ahmed Fahmy Soliman, Polat Sendur, Barkan Ugurlu
3-D Dynamic Walking Trajectory Generation for a Bipedal Exoskeleton with Underactuated Legs: A Proof of Concept. ICORR (2019)
Petar Kormushev, Barkan Ugurlu, Darwin G. Caldwell, Nikos G. Tsagarakis
Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid. Auton. Robots 43 (1) (2019)
Sara Hamdan, Erhan Öztop, Barkan Ugurlu
Force Reference Extraction via Human Interaction for a Robotic Polishing Task: Force-Induced Motion. SMC (2019)
Mehmet Can Yildirim, Polat Sendur, Ahmed Fahmy Soliman, Barkan Ugurlu
Optimal Stiffness Tuning for a Lower Body Exoskeleton with Spring-Supported Passive Joints. BioRob (2018)
Ahmet Talha Kansizoglu, Emre Sariyildiz, Barkan Ugurlu
A comparison study on observer-based force control of series elastic actuators. AMC (2018)
Sara Hamdan, Erhan Öztop, Jun-ichiro Furukawa, Jun Morimoto, Barkan Ugurlu
Shoulder Glenohumeral Elevation Estimation based on Upper Arm Orientation. EMBC (2018)
Mehmet Can Yildirim, Polat Sendur, Onur Bilgin, Berk Gulek, Guney Guven Yapici, Barkan Ugurlu
An integrated design approach for a series elastic actuator: Stiffness formulation, fatigue analysis, thermal management. Humanoids (2017)
Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Kana Kayamori, Darwin G. Caldwell, Tatsuo Narikiyo
Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ. Auton. Robots 38 (4) (2015)
Barkan Ugurlu, Masayoshi Nishimura, Kazuyuki Hyodo, Michihiro Kawanishi, Tatsuo Narikiyo
Proof of Concept for Robot-Aided Upper Limb Rehabilitation Using Disturbance Observers. IEEE Trans. Hum. Mach. Syst. 45 (1) (2015)
Luka Peternel, Barkan Ugurlu, Jan Babic, Jun Morimoto
Assessments on the improved modelling for pneumatic artificial muscle actuators. ICAR (2015)
Jessica Beltran Ullauri, Luka Peternel, Barkan Ugurlu, Yoji Yamada, Jun Morimoto
On the EMG-based torque estimation for humans coupled with a force-controlled elbow exoskeleton. ICAR (2015)
Barkan Ugurlu, Paolo Forni, Corinne Doppmann, Jun Morimoto
Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller. IROS (2015)
Corinne Doppmann, Barkan Ugurlu, Masashi Hamaya, Tatsuya Teramae, Tomoyuki Noda, Jun Morimoto
Towards balance recovery control for lower body exoskeleton robots with Variable Stiffness Actuators: Spring-loaded flywheel model. ICRA (2015)
Osman Kaya, Mehmet Can Yildirim, Nisan Kuzuluk, Emre Cicek, Ozkan Bebek, Erhan Öztop, Barkan Ugurlu
Environmental force estimation for a robotic hand: Compliant contact detection. Humanoids (2015)
Barkan Ugurlu, Hironori Oshima, Tatsuo Narikiyo
Lower body exoskeleton-supported compliant bipedal walking for paraplegics: How to reduce upper body effort? ICRA (2014)
Barkan Ugurlu, Atsuo Kawamura
On the Backward Hopping Problem of Legged Robots. IEEE Trans. Ind. Electron. 61 (3) (2014)
Barkan Ugurlu, Jody Alessandro Saglia, Nikos G. Tsagarakis, Stephen Morfey, Darwin G. Caldwell
Bipedal Hopping Pattern Generation for Passively Compliant Humanoids: Exploiting the Resonance. IEEE Trans. Ind. Electron. 61 (10) (2014)
Tomoyuki Noda, Tatsuya Teramae, Barkan Ugurlu, Jun Morimoto
Development of an upper limb exoskeleton powered via pneumatic electric hybrid actuators with bowden cable. IROS (2014)
Barkan Ugurlu, Kana Kotaka, Tatsuo Narikiyo
Actively-compliant locomotion control on rough terrain: Cyclic jumping and trotting experiments on a stiff-by-nature quadruped. ICRA (2013)
Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Darwin G. Caldwell
Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control. IROS (2013)
Kana Kotaka, Barkan Ugurlu, Michihiro Kawanishi, Tatsuo Narikiyo
Prototype development and real-time trot-running implementation of a quadruped robot: RoboCat-1. ICM (2013)
Barkan Ugurlu, Jody Alessandro Saglia, Nikolaos G. Tsagarakis, Darwin G. Caldwell
Hopping at the resonance frequency: A trajectory generation technique for bipedal robots with elastic joints. ICRA (2012)
Barkan Ugurlu, Masayoshi Nishimura, Kazuyuki Hyodo, Michihiro Kawanishi, Tatsuo Narikiyo
A framework for sensorless torque estimation and control in wearable exoskeletons. AMC (2012)
Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell, Barkan Ugurlu
Challenges for the policy representation when applying reinforcement learning in robotics. IJCNN (2012)
Barkan Ugurlu, Takao Kawasaki, Michihiro Kawanishi, Tatsuo Narikiyo
Continuous and dynamically equilibrated one-legged running experiments: Motion generation and indirect force feedback control. IROS (2012)
Barkan Ugurlu, Jody Alessandro Saglia, Nikos G. Tsagarakis, Darwin G. Caldwell
Yaw moment compensation for bipedal Robots via Intrinsic angular momentum Constraint. Int. J. Humanoid Robotics 9 (4) (2012)
Petar Kormushev, Barkan Ugurlu, Luca Colasanto, Nikolaos G. Tsagarakis, Darwin G. Caldwell
The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans. IROS (2012)
Barkan Ugurlu, Atsuo Kawamura
Bipedal Trajectory Generation Based on Combining Inertial Forces and Intrinsic Angular Momentum Rate Changes: Eulerian ZMP Resolution. IEEE Trans. Robotics 28 (6) (2012)
Petar Kormushev, Barkan Ugurlu, Sylvain Calinon, Nikolaos G. Tsagarakis, Darwin G. Caldwell
Bipedal walking energy minimization by reinforcement learning with evolving policy parameterization. IROS (2011)
Barkan Ugurlu, Atsuo Kawamura
Eulerian ZMP resolution based bipedal walking: Discussions on the intrinsic angular momentum rate change about center of mass. ICRA (2010)
Barkan Ugurlu, Atsuo Kawamura
Bipedal walking trajectory generation based on ZMP and Euler's equations of motion. Humanoids (2010)
Fariz Ali, Barkan Ugurlu, Atsuo Kawamura
Center of mass based inverse kinematics algorithm for bipedal robot motion on inclined surfaces. AMC (2010)
Aliza Che Amran, Barkan Ugurlu, Atsuo Kawamura
Energy and torque efficient ZMP-based bipedal walking with varying center of mass height. AMC (2010)
Barkan Ugurlu, Atsuo Kawamura
ZMP-Based Online Jumping Pattern Generation for a One-Legged Robot. IEEE Trans. Ind. Electron. 57 (5) (2010)
Barkan Ugurlu, Atsuo Kawamura
Real-time running and jumping pattern generation for bipedal robots based on ZMP and Euler's equations. IROS (2009)