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Kübra Karacan

9 accepted papers

2026

Tactile Memory for Continuous Policy Blending in Unified Force-Impedance Control

Kübra Karacan, Ayça Demir, Doğukan Tosun, Feyza Nur Söğüt, Robin Jeanne Kirschner, Hamid Sadeghian +1
ICRA 2026poster

As of today, automating contact-rich industrial manipulation processes, such as insertion, plugging, and screw-driving, is tedious and requires expert knowledge. The processes consist of programmable, common action units, like moving to a pose and establishing contact. However, the user still has to…

Cited by 0Scholar ↗
2026

The Challenges of Using Robots to Automate the Recycling of Electronic Devices

Ales Ude, Mihael Simonic, Boris Kuster, Matija Mavsar, Martin Bem, Sebastian Ruiz +10
ICRA 2026poster

This paper tackles the challenges of automating battery removal from small electronic devices, such as heat cost allocators and smoke detectors. The process is critical for mitigating fire hazards caused by lithium batteries in recycling facilities and for supporting a circular economy. We focus on …

Cited by 0Scholar ↗
2025

The Foundation for Tactile Robots: Approaching the Holistic Analysis of a Robot's Force Sensing Capabilities

Robin Jeanne Kirschner, Sebastian Siegner, Kübra Karacan, Sami Haddadin
IROS 2025

Contact estimation and force sensing are fundamental requirements for sensitive manipulation and safe physical human-robot interaction. The robot controllers that enable these functions rely on accurate and precise sensing. The performance of external force estimation is influenced by the design of

Cited by 0Source ↗Scholar ↗
2024

A Novel Variable Stiffness Suspension System for Improved Stability and Control of Tactile Mobile Manipulators

Sebastian Kuhn, Mehmet C. Yildirim, Edmundo Pozo Fortunić, Kübra Karacan, Abdalla Swikir, Sami Haddadin
IROS 2024poster

Mobile manipulators (MM) have proven valuable in assisting humans in industrial settings. However, their strict separation from humans in controlled environments limits their effectiveness. Efforts have been made to bridge this gap for physical human-robot interaction (pHRI), leading to the developm…

Cited by 0Source ↗Scholar ↗
2024

Online Transfer and Adaptation of Tactile Skill: A Teleoperation Framework

Xiao Chen, Tianle Ni, Kübra Karacan, Hamid Sadeghian, Sami Haddadin
CoRL 2024poster

This paper presents a teleoperation framework designed for online learning and adaptation of tactile skills, which provides an intuitive interface without need for physical access to execution robot. The proposed tele-teaching approach utilizes periodical Dynamical Movement Primitives (DMP) and Recu…

Cited by 1Source ↗Scholar ↗
2024

Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control

Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin
ICRA 2024poster

Flexible manufacturing lines are required to meet the demand for customized and small batch-size products. Even though state-of-the-art tactile robots may provide the versatility for increased adaptability and flexibility, their potential is yet to be fully exploited. To support robotics deployment…

Cited by 2Source ↗Scholar ↗
2024

Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control

Kübra Karacan, Anran Zhang, Hamid Sadeghian, Fan Wu, Sami Haddadin
IROS 2024poster

Despite recent advancements in torque-controlled tactile robots, integrating them into manufacturing settings remains challenging, particularly in complex environments. Simplifying robotic skill programming for non-experts is crucial for increasing robot deployment in manufacturing. This work propos…

Cited by 1Source ↗Scholar ↗
2022

Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control

Kübra Karacan, Hamid Sadeghian, Robin Kirschner, Sami Haddadin
IROS 2022poster

Tactile robots shall be deployed for dynamic task execution in production lines with small batch sizes. Therefore, these robots should have the ability to respond to changing conditions and be easy to (re-)program. Operating under uncertain environments requires unifying subsystems such as robot mot…

Cited by 13Source ↗Scholar ↗
2021

Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking

Robin Jeanne Kirschner, Alexander Kurdas, Kübra Karacan, Philipp Junge, Seyed Ali Baradaran Birjandi, Nico Mansfeld +2
IROS 2021poster

Improving robot systems via newly-developed sensing devices, control algorithms, or state estimators in order to obtain safe and efficient human-robot interaction as well as tactile manipulation skills requires standardized performance measurement protocols for objective comparison. Common protocols…

Cited by 25Source ↗Scholar ↗