Ogulcan Isitman

2 accepted papers

2025

Trajectory Planning and Control for Robotic Manipulation of Magnetic Capsules

Ogulcan Isitman, Gokhan Alcan, Ville Kyrki

RA-L 2025

Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external permanent magnets (EPM) is challenging due to nonlinear magnetic interactions, especially when there are complex navigation

Cited by 2 Source ↗Scholar ↗

2022

Non-Contact Cooperative Manipulation of Magnetic Microparticles Using Two Robotic Electromagnetic Needles

Ogulcan Isitman, Houari Bettahar, Quan Zhou

RA-L 2022

In this paper, we report a cooperative manipulation method for non-contact robotic electromagnetic needle manipulation system. We employ two 3 degrees of freedom (DOF) robotic electromagnetic needles to achieve an over-actuated manipulator, which can move the particle to any position in the planar w

Cited by 13 Source ↗Scholar ↗