Ozan Tokatli — accepted AI-conference papers

2025

A Kinematics Optimization Framework with Improved Computational Efficiency for Task-Based Optimum Design of Serial Manipulators in Cluttered Environments

Nikola Petkov, Ozan Tokatli, Kaiqiang Zhang, Huapeng Wu, Robert Skilton

ICRA 2025

It is challenging to find optimum kinematic designs for non-standard robotic manipulators, e.g., medical, nuclear, and space manipulators, which are demanded to adapt to arbitrary complex tasks in constraints. Such design optimization can be modelled as a multi-dimensional non-convex optimization pr

Cited by 1 Source ↗Scholar ↗

2020

A Variable-Fractional Order Admittance Controller for pHRI

Doganay Sirintuna, Yusuf Aydin, Ozan Caldiran, Ozan Tokatli, Volkan Patoglu, Cagatay Basdogan

ICRA 2020poster

In today's automation driven manufacturing environments, emerging technologies like cobots (collaborative robots) and augmented reality interfaces can help integrating humans into the production workflow to benefit from their adaptability and cognitive skills. In such settings, humans are expected t…

Cited by 21 Source ↗Scholar ↗

2015

Stability of haptic systems with fractional order controllers

Ozan Tokatli, Volkan Patoglu

IROS 2015poster

Fractional order calculus is a generalization of the familiar integer order calculus in that, it allows for differentiation/integration with orders of any real number. The use of fractional order calculus in systems and control applications provides the user an extra design variable, the order of di…

Cited by 18 Source ↗Scholar ↗