Publications

[J]: Journal article (SCI), [BC]: Book Chapter, [OJ]: Other journal articles, [IC]: International Conference paper, [LC]: Domestic Conference paper.

2023

[IC23] Erim Can Ozcinar, Ozkan Bebek, and Barkan Ugurlu, "Contact Force Distribution Using Centroidal Momentum Feedback for Quadruped Locomotion ," 2023 IEEE International Conference on Mechatronics (ICM), Loughborough, United Kingdom

2022

[IC22]Sinan Emre, Baris Akin, Erim Can Ozcinar, Baris Balci, Polat Sendur, Ozkan Bebek, Ramazan Unal,and Barkan Ugurlu,Topology Optimization-based Design and Development of a Compact Actuator with a High Torque-to-Weight Ratio for Quadrupeds , ACTUATOR 2022; International Conference and Exhibition on New Actuator Systems and Applications, Mannheim, Germany
[IC21] Mustafa Derman, Ahmed Fahmy Soliman, Alihan Kuru, Suleyman Can Cevik, Ramazan Unal, Ozkan Bebek, and Barkan Ugurlu, Simulation-based Design and Locomotion Control Implementation for a Lower Body Exoskeleton , Accepted 2022 IEEE 5th International Conference on Industrial Cyber-Physical Systems (ICPS), Coventry, United Kingdom
[IC20] Dilay Yesildag Oral, Duygu Erol Barkana, and Barkan Ugurlu, Centroidal Momentum Observer: Towards Whole-Body Robust Control of Legged Robots Subject to Uncertainties , Accepted 2022 IEEE 17th International Conference on Advanced Motion Control (AMC), Padova, Italy

2021

[J11] Barkan Ugurlu, Emre Sariyildiz, Ahmet Talha Kansizoglu, Erim Can Ozcinar, and Sinan Coruk, Benchmarking Torque Control Strategies for a Torsion based Series Elastic Actuator, IEEE Robotics & Automation Magazine, Conditionally accepted, 2021.
[J10] Barkan Ugurlu, Emre Sariyildiz, Takao Kawasaki, and Tatsuo Narikiyo, Agile and Stable Running Locomotion Control for an Untethered and One-Legged Hopping Robot, Autonomous Robots, vol. 45, no. 6, pp. 805-819, 2021.
[J9] Mehmet C. Yildirim, Polat Sendur, Ahmet Talha Kansizoglu, Umut Uras, Onur Bilgin, Sinan Emre, Guney Guven Yapici, Mehmet Arik, and Barkan Ugurlu, Design and Development of a Durable Series Elastic Actuator with an Optimized Spring Topology, Proc. of the iMeche, Part C: Journal of Mechanical Engineering Science, Accepted, 2021.
[J8] Ahmed Fahmy Soliman, and Barkan Ugurlu, Robust Locomotion Control of a Self-Balancing and Underactuated Bipedal Exoskeleton: Task Prioritization and Feedback Control, IEEE Robotics and Automation Letters, vol. 6, no.3, July 2021, pp. 5626-5633.
[IC19] Suleyman Can Cevik, Mustafa Derman, Ramazan Unal, Barkan Ugurlu, and Ozkan Bebek, A Custom Brace Design to Connect The Patient to an Exoskeleton With Minimal Discomfort, in Proc. of the IEEE International Conference on Industrial Informatics (INDIN), Palma de Mallorca, Spain, 2021.
[OJ5] Jan Babic, Matteo Laffranchi, Federico Tessari, Tom Verstraten, Domen Novak, Nejc Sarabon, Barkan Ugurlu, Luka Peternel, Diego Torricelli, and Jan F. Veneman, Challenges and Solutions for Application and Wider Adoption of Wearable Robots , Wearable Technologies, Cond. Accepted. (Open-access)
[OJ4] Erim Can Özçınar, and Barkan Uğurlu, Reaction Force Observer based Torque Control, Gazi University, Journal of Polytechnic, Accepted. (in Turkish; Open-access)

2020

[J7] Barkan Ugurlu, Hironori Oshima, Emre Sariyildiz, and Tatsuo Narikiyo, Jan Babic, Active Compliance Control Reduces Upper Body Effort in Exoskeleton-Supported Walking, IEEE Transactions on Human-Machine Systems, pp. 144-153. (SCI)
[IC18] Sinan Coruk, Mehmet C. Yildirim, A. Talha Kansizoglu, Oguzhan Dalgic, and Barkan Ugurlu, Design and Development of a Powered Upper Limb Exoskeleton with High Payload Capacity for Industrial Operations, in Proc. of the IEEE International Conference on Human-Machine Systems (ICHMS), Roma, Italy, 2020.
[IC17] Evan Dunwoodie, Rahim Mutlu, Mehmet C. Yildirim, Barkan Ugurlu, and Emre Sariyildiz, A High-Torque Density Compliant Actuator Design for Physical Robot Environment Interaction, in Proc. of the IEEE International Workshop on Advanced Motion Control (AMC), Adger, Norway, 2020, pp. 235-240.

2019

[J6] Barkan Ugurlu, Paolo Forni, Corinne Doppman, Emre Sariyildiz, and Jun Morimoto, Stable Control of Force, Position, and Stiffness for Robot Joints Powered via Pneumatic Muscles, IEEE Transactions on Industrial Informatics, vol. 15, no. 12, pp. 6270-6279.
[J5] Petar Kormushev, Barkan Ugurlu, Darwin G Caldwell, Nikos G Tsagarakis, Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid, Autonomous Robots, vol 43, no 1, January 2019, 79-95. (SCI)
[IC16] Oguzhan Dalgic, Ahmet Tekin, and Barkan Ugurlu, An Experimental Study of a Bluetooth Communication System for Robot Motion Control, in Proc. of the IEEE International Conference on Industrial Electronics and Control (IECON), Lisbon, Portugal, 2019, pp. 604-609.
[IC15] Sara Hamdan, Erhan Oztop, and Barkan Ugurlu, Force Reference Extraction via Human Interaction for a Robotic Polishing Task: Force-Induced Motion, in Proc. of the IEEE International Conference on System, Man and Cybernetics (SMC), Bari, Italy, 2019, pp. 4019-4024.
[IC14] Mehmet Can Yildirim, Ahmet Talha Kansizoglu, Sinan Emre, Mustafa Derman, Sinan Coruk, Ahmed Fahmy Soliman, Polat Sendur, and Barkan Ugurlu, Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-Existence, in Proc. of the IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, Canada, 2019, pp. 605-610.
[IC13] Ahmed Fahmy Soliman, Polat Sendur, and Barkan Ugurlu, 3-D Dynamic Walking Trajectory Generation for a Bipedal Exoskeleton with Underactuated Legs: A Proof of Concept, in Proc. of the IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, Canada, 2019, pp. 599-604.
[IC12] Barkan Ugurlu, Merve Acer, Duygun Erol Barkana, Ikilem Gocek, Ayse Kucukyilmaz, Yunus Ziya Arslan, Halik Basturk, Evren Samur, Emre Ugur, Ramazan Unal, and Ozkan Bebek, A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance, in Proc. of the IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, Canada, 2019, pp 518-523.
[IC11] Polat Sendur, and Barkan Ugurlu, Application of a Disturbance Observer based Algorithm to Improve Vehicle Ride, in Proc. of the 26th International Congress on Sound and Vibration (ICSV26), Montreal, Canada, 2019.

2018

[J4] Emre Sariyildiz, Hiromu Sekiguchi, Takahiro Nozaki, Barkan Ugurlu, and Kouhei Ohnishi, A Stability Analysis for the Acceleration-based Robust Position Control of Robot Manipulators via Disturbance Observer, IEEE/ASME Transactions on Mechatronics, vol. 23, no, 5, July 2018, pp. 2639-2378.
[IC10] Mehmet Can Yildirim, Ahmet Talha Kansizoglu, Polat Sendur, and Barkan Ugurlu,High Power Series Elastic Actuator Development for Torque-Controlled Exoskeletons,in Proc. of the International Symposium on Wearable Robotics (WeRob), Pisa, Italy, 2018, pp 70-74.
[IC9] Mehmet Can Yildirim, Polat Sendur, Ahmed Fahmy Soliman, and Barkan Ugurlu,, Optimal Stiffness Tuning for a Lower Body Exoskeleton with Spring-Supported Passive Joints, in Proc. of the IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Enschede, The Netherlands, 2018, Accepted.
[IC8] Sara Hamdan, Erhan Oztop, Jun-ichiro Furukawa, Jun Morimoto, and Barkan Ugurlu, Shoulder Glenohumeral Elevation can be Estimated via Gaussian Regression with Upper Arm Orientation,in Proc. of the IEEE International Conference on Engineering in Medicine and Biology Society (EMBC), Honolulu, US, 2018, Accepted.
[IC7] Ahmet Talha Kansizoglu, Emre Sariyildiz, and Barkan Ugurlu, A Comparison Study on Observer-based Force Control of Series Elastic Actuators, in Proc. of the IEEE International Workshop on Advanced Motion Control (AMC), Tokyo, Japan, 2018, pp. 411-416.
[OJ1] Mehmet C. Yildirim, Polat Sendur, and Barkan Ugurlu, Mechanical Design Procedures for Series Elastic Actuators, Pamukkale University, Journal of Engineering Sciences, Forthcoming article. (in Turkish)
[BC1] Barkan Ugurlu, and Serena Ivaldi, Chapter 35: Public Simulation Software, in the book, titled "Humanoid Robotics: A Reference", Editors: Prahlad Vadakkepat, Ambarish Goswami, and Jong-Hwan Kim, Springer, May 2018, in print.

2017

[IC6] Mehmet Can Yildirim, Polat Sendur, Onur Bilgin, Berk Gulek, Guney Guven Yapici, Barkan Ugurlu, An integrated design approach for a series elastic actuator: Stiffness formulation, fatigue analysis, thermal management,in Proc. of the IEEE International Conference on Humanoid Robotics (Humanoids), Birmingham, UK, 2017, pp. 384-389.

2016

[J3] Barkan Ugurlu, Corinne Doppmann, Masashi Hamaya, Paolo Forni, Tatsuya Teramae, Tomoyuki Noda, and Jun Morimoto, Variable Ankle Stiffness Improves Balance Control: Experiments on a Bipedal Exoskeleton,IEEE/ASME Transactions on Mechatronics, vol. 21, no.1, February 2016, pp. 79-87. (SCI)

2015

[J2] Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Kana Kayamori, Darwin G. Caldwell, and Tatsuo Narikiyo, Pattern Generation and Compliant Feedback Control for Quadrupedal Dynamic Trot-Walking Locomotion: Experiments on RoboCat-1 and HyQ, Autonomous Robots, vol. 38. no. 4, April 2015, pp. 415-437. (SCI)
[J1] Barkan Ugurlu, Masayoshi Nishimura, Kazuyuki Hyodo, Michihiro Kawanishi, and Tatsuo Narikiyo, Proof of Concept for Robot-aided Upper Limb Rehabilitation Using Disturbance Observers, IEEE Transactions on Human-Machine Systems, vol. 45, no. 1, February 2015, pp. 110-118. (SCI)
[IC5] Osman Kaya, Mehmet Can Yildirim, Nisan Kuzuluk, Emre Cicek, Ozkan Bebek, Erhan Oztop, Barkan Ugurlu, Environmental Force Estimation for a Robotic Hand: Compliant Contact Detection, in Proc. of the IEEE International Conference on Humanoid Robotics (Humanoids), Seoul, Korea, 2015, pp. 791-796.
[IC4] Barkan Ugurlu, Paolo Forni, Corinne Doppmann, and Jun Morimoto, Torque and Variable Stiffness Control for Antagonistically Driven Pneumatic Muscle Actuators via a Stable Force Feedback Controller, in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015, pp. 1633-1639.
[IC3] Corinne Doppmann, Barkan Ugurlu, Masashi Hamaya, Tatsuya Teramae, Tomoyuki Noda, and Jun Morimoto, Towards Balance Recovery Control for Lower Body Exoskeleton Robots with Variable Stiffness Actuators: Spring-Loaded Flywheel Model, in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, US, 2015, pp. 5551-5556.
[IC2] Luka Peternel, Barkan Ugurlu, Yoji Yamada, and Jun Morimoto, Assessments on the improved modelling for pneumatic artificial muscle actuators, in Proc. of the IEEE International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 2015.
[IC1] Jessica Beltran Ullauri, Luka Peternel, Barkan Ugurlu, Yoji Yamada, and Jun Morimoto, On the EMG-based torque estimation for humans coupled with a force-controlled elbow exoskeleton, in Proc. of the IEEE International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 2015.