Mehmet Can Yildirim — accepted AI-conference papers

2025

Braking Control in Clutched-Elastic Robots: Coordinating the Underactuation-to-Actuation Transition

Vasilije Rakcevic, Dennis Ossadnik, Edmundo Pozo Fortunic, Mehmet Can Yildirim, Valentin Le Mesle, Sami Haddadin

IROS 2025

Robots with intrinsic joint elasticity can perform highly dynamic manoeuvres by leveraging energy storage and release, enabling explosive motions such as throwing. By augmenting elastic robots with clutch mechanisms, link decoupling can be used to fully exploit inertial coupling effects and gravitat

Cited by 0 Source ↗Scholar ↗

2025

Investigating the Fitness of Finger Grippers for Dynamic Tactile Manipulation Under Static Object Conditions

Mehmet Can Yildirim, Dee Hva Choong, Johannes Ringwald, Robin Jeanne Kirschner, Valentin Le Mesle, Sami Haddadin

IROS 2025

Robotic system development must adopt a holistic approach for tactile and dynamic tasks, shifting from the decoupled design of end-effectors and robot manipulators for traditional sequential tasks. Although established metrics exist for traditional tasks, such as pick-and-place, they lack the nuance

Cited by 1 Source ↗Scholar ↗

2023

Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept

Edmundo Pozo Fortunic, Mehmet Can Yildirim, Dennis Ossadnik, Abdalla Swikir, Saeed Abdolshah, Sami Haddadin

RA-L 2023

Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA) are highly sophisticated, they do not fully provide control over energy transfer timing. To overcome this problem on th

Cited by 4 Source ↗Scholar ↗