Arda Yigit — accepted AI-conference papers

2026

Backdrivable Redundantly Actuated Parallel Robot for Sensorless Physical Human-Robot Interaction

Arda Yigit, Simon Foucault, Clement Gosselin

ICRA 2026poster

This paper introduces a new redundantly actuated parallel robot capable of sensorless physical human-robot interaction. Three 3-DoF legs are attached to an end-effector platform through spherical joints. This architecture alleviates most parallel singularities, thus enabling a very large workspace. …

Cited by 0 Scholar ↗

2021

Novel Omnidirectional Aerial Manipulator With Elastic Suspension: Dynamic Control and Experimental Performance Assessment

Arda Yigit, Miguel Arpa Perozo, Loïc Cuvillon, Sylvain Durand, Jacques Gangloff

RA-L 2021

Aerial manipulators may replace industrial manipulators for specific tasks involving large workspaces and high dynamics. However, these robots suffer from a lack of accuracy, autonomy, payload capability and a complex regulatory environment. To overcome some of these limitations, we introduce a nove

Cited by 23 Source ↗Scholar ↗