AIConfPaper
← Search

Mehmet C. Yildirim

4 accepted papers

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

Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach

Dennis Ossadnik, Vasilije Rakčević, Mehmet C. Yildirim, Edmundo Pozo Fortunić, Hugo T. M. Kussaba, Abdalla Swikir +1
ICRA 2024poster

Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic motions even with limited motor power. However, the time-depen…

Cited by 1Source ↗Scholar ↗
2022

BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots

Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah +1
IROS 2022poster

Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On the contrary, for multi-link systems, the natural system dynam…

Cited by 4Source ↗Scholar ↗
2022

Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result

Mehmet C. Yildirim, Mohamadreza Sabaghian, Thore Goll, Clemens Kössler, Christoph Jähne, Abdalla Swikir +2
ICRA 2022poster

Nowadays, wheeled mobile robots constitute a considerable portion of robots in industrial applications. Generally, regardless of their purpose, these systems are not designed to physically interact with humans, other robots, or the environment. In this study, we present a novel safe autonomous mobil…

Cited by 1Source ↗Scholar ↗