MINIATURE ROBOTICS LAB

Our lab was founded by Dr. Onur Özcan in January 2015 as part of the Bilkent University, Mechanical Engineering Department.

Our main research area is novel miniature robotic systems. We are interested in unconventional manufacturing techniques for miniature robot fabrication, novel actuation methods for miniature robots, small-scale physics behind miniature robot locomotion, and unique robot designs that allow miniaturization.

The robots we develop can be used to access confined spaces in hazardous environments and can be utilized in inspection, reconnaissance or search and rescue missions.

Our current research is supported by The Scientific and Technological Council of Turkey (TÜBİTAK) under 2232, 3001, 3501, and 1003 funding schemes.

For more information, visit our lab webpage.

RELATED PUBLICATIONS

  • Kalın, M. A. İ., Aygül, C., Türkmen, A., Kwiczak-Yiğitbaşı, J., Baytekin, B., Özcan, O. (2020). "Design, Fabrication, and Locomotion Analysis of an Untethered Miniature Soft Quadruped, SQuad", IEEE Robotics and Automation Letters, v.5(3) p.3854 - 3860, DOI: https://doi.org/10.1109/LRA.2020.2982354
  • Mahkam, N., Bakır, A., Özcan, O. (2020). "Miniature Modular Legged Robot With Compliant Backbones", IEEE Robotics and Automation Letters, v.5(3) p.3923 - 3930, DOI: https://doi.org/10.1109/LRA.2020.2982362
  • Karakadıoğlu, C., Askari, M., Özcan, O. (2020). "The Effect of Large Deflections of Joints on Foldable Miniature Robot Dynamics", Journal of Intelligent & Robotic Systems p.1-14, DOI: https://doi.org/10.1007/s10846-020-01169-1
  • Özcan, O., Hu, W., Sitti, M., Bain, J., Ricketts, D. (2014). "Investigation of Tip Current and Normal Force Measured Simultaneously During Local Oxidation of Titanium using Dual-Mode Scanning Probe Microscopy", Micro & Nano Letters, IET, v.9(5) p.332-336, DOI: https://doi.org/10.1049/mnl.2014.0089
  • Baisch, A., Özcan, O., Goldberg, B., Ithier, D., Wood, R. (2014). "High Speed Locomotion for a Quadrupedal Microrobot", The International Journal of Robotics Research, v.33(8) p.1063-1082, DOI: https://doi.org/10.1177/0278364914521473
  • Özcan, O., Wang, H., Taylor, J., Sitti, M. (2014). "STRIDE II: A Water Strider-Inspired Miniature Robot with Circular Footpads", International Journal of Advanced Robotic Systems, v.11 p.85, DOI: https://doi.org/10.5772/58701
  • Özcan, O., Sitti, M. (2012). "Modeling of Conductive Atomic Force Microscope Probes for Scanning Tunneling Microscope Operation", Micro & Nano Letters, IET, v.7(4) p.329-333, DOI: https://doi.org/10.1049/mnl.2011.0671
  • Önal, Ç.D., Özcan, O., Sitti, M. (2011). "Automated 2-D Nanoparticle Manipulation using Atomic Force Microscopy", Nanotechnology, IEEE Transactions on, v.10(3) p.472-481, DOI: https://doi.org/10.1109/TNANO.2010.2047510
  • Dilaveroğlu, L., Özcan, O. (2020). "MiniCoRe: A Miniature, Foldable, Collision Resilient Quadcopter", IEEE International Conference on Soft Robotics (RoboSoft) p.176-181, New Haven, CT, USA, DOI: https://doi.org/10.1109/RoboSoft48309.2020.9115993
  • Askari, M., Özcan, O. (2019). "Dynamic Modeling and Gait Analysis for Miniature Robots in the Absence of Foot Placement Control", IEEE International Conference on Robotics and Automation (ICRA) p.9754-9760, 12 August 2019, Montreal, QC, Canada, Canada, DOI: https://doi.org/10.1109/ICRA.2019.8793533
  • Aygül, C., Kwiczak-Yiğitbaşi, J., Baytekin, B., Özcan, O. (2019). "Joint Design and Fabrication for Multi-Material Soft/Hybrid Robots", IEEE International Conference on Soft Robotics (RoboSoft) p.477-482, 27 May 2019, Seoul, Korea (South), Korea (South), DOI: https://doi.org/10.1109/ROBOSOFT.2019.8722769
  • Güç, A.F., Kalın, M.A., Karakadıoğlu, C., Özcan, O. (2017). "C-Quad: A Miniature, Foldable Quadruped with C-Shaped Compliant Legs", IEEE ROBIO’17. IEEE International Conference on Robotics and Biomimetics p.26-31, Macau, China, DOI: https://doi.org/10.1109/ROBIO.2017.8324389
  • Askari, M., Karakadıoğlu, C., Ayhan, F., Özcan, O. (2017). "MinIAQ-II: A Miniature Foldable Quadruped with an Improved Leg Mechanism", IEEE ROBIO’17. IEEE International Conference on Robotics and Biomimetics p.19-25, Macau, China, DOI: https://doi.org/10.1109/ROBIO.2017.8324388
  • Karakadıoğlu, C., Askari, M., Özcan, O. (2017). "Design and Operation of MinIAQ: An Untethered Foldable Miniature Quadruped with Individually Actuated Legs", IEEE AIM’17. IEEE International Conference on Advanced Intelligent Mechatronics p.247-252, Munich, Germany, DOI: https://doi.org/10.1109/AIM.2017.8014025
  • Bruhwiler, R., Goldberg, B., Doshi, N., Özcan, O., Jafferis, N., Karpelson, M., Wood, R. (2015). "Feedback Control of a Legged Microrobot with On-Board Sensing", IROS'15. IEEE/RSJ International Conference on Intelligent Robots and Systems p.5727-5733, Hamburg, Germany, DOI: https://doi.org/10.1109/IROS.2015.7354190
  • Seitz, B., Goldberg, B., Doshi, N., Özcan, O., Christensen, D., Hawkes, E., Cutkosky, M., Wood, R. (2014). "Bio-Inspired Mechanisms for Inclined Locomotion in a Legged Insect-Scale Robot", 2014 ROBIO, IEEE International Conference on Robotics and Biomimetics, Bali, Indonesia, DOI: https://doi.org/10.1109/ROBIO.2014.7090428
  • Aukes, D., Özcan, O., Wood, R. (2014). "Monolithic Design and Fabrication of a 2-DOF Bio-Inspired Leg Transmission", Living Machines: Biomimetic and Biohybrid Systems p.1-10, Rome, Italy, DOI: https://doi.org/10.1007/978-3-319-09435-9_1
  • Özcan, O., Baisch, A., Ithier, C., Wood, R. (2014). "Powertrain Selection for a Biologically-Inspired Miniature Quadruped Robot", ICRA’14. IEEE International Conference on Robotics and Automation p.2398-2405, Hong Kong, China, DOI: https://doi.org/10.1109/ICRA.2014.6907192
  • Goldberg, B., Karpelson, M., Özcan, O., Wood, R. (2014). "Planar Fabrication of a Mesoscale Voice Coil Actuator", ICRA’14. IEEE International Conference on Robotics and Automation p.6319-6325, Hong Kong, China, DOI: https://doi.org/10.1109/ICRA.2014.6907791
  • Karpelson, M., Waters, B., Goldberg, B., Mahoney, B., Özcan, O., Baisch, A., Meyitang, P., Smith, J., Wood, R. (2014). "A Wirelessly Powered, Biologically-Inspired Ambulatory Microrobot", ICRA’14. IEEE International Conference on Robotics and Automation p.2384-2391, Hong Kong, China, DOI: https://doi.org/10.1109/ICRA.2014.6907190
  • Özcan, O., Baisch, A. T., Wood, R. (2013). "Design and Feedback Control of a Biologically-Inspired Miniature Quadruped", IROS’13. IEEE/RSJ International Conference on Intelligent Robots and Systems p.1438-1444, Tokyo, Japan, DOI: https://doi.org/10.1109/IROS.2013.6696538
  • Önal, Ç.D., Sümer, B., Özcan, O., Nain, A., Sitti, M. (2011). "Tip Based Robotic Precision Micro/Nanomanipulation Systems", SPIE Defense, Security, and Sensing, International Society for Optics and Photonics p.80580M, Orlando, FL, USA, DOI: https://doi.org/10.1117/12.889121
  • Özcan, O., Wang, H., Taylor, J., Sitti, M. (2010). "Surface Tension Driven Water Strider Robot using Circular Footpads", ICRA’10. IEEE International Conference on Robotics and Automation p.3799-3804, Anchorage, AK, USA, DOI: https://doi.org/10.1109/ROBOT.2010.5509843
  • Önal, Ç.D., Özcan, O., Sitti, M. (2009). "Automated 2-D Nanoparticle Manipulation with an Atomic Force Microscope", ICRA’09. IEEE International Conference on Robotics and Automation p.1814-1819, Kobe, Japan, DOI: https://doi.org/10.1109/ROBOT.2009.5152241
  • Mahkam, N., Özgüven, Ö.B., Özcan, O. (2019). "Katlanabilir Moduler Minyatur Robotlar Icin Esnek Omurga Modulu Tasarimi (Winner of Best Paper Award)", Turkish Robotscience Conference (TORK), İstanbul, Turkey
  • Askari, M., Yeldan, A., Özcan, O. (2019). "Katlanabilir Robotlarda Uretim Kaynakli Boyutsal Kacikliklarin Bacak Yorungesine ve Robot Dinamiklerine Etkileri", Turkish Robotscience Conference (TORK), İstanbul, Turkey
  • Güç, A.F., Yumrukçal, Z., Özcan, O. (2019). "Iki Eksenli Gimbal Sistemlerinin Benzetiminde Dogrusal Olmayan Surtunme Etkilerinin Tanilanmasi", Turkish Robotscience Conference (TORK), İstanbul, Turkey
  • Önal, Ç.D., Özcan, O., Sitti, M. (2012). "Automated Tip Based 2-D Mechanical Assembly of Micro/Nanoparticles", In J.J. Gorman, and B. Shapiro (Eds.), Feedback Control of MEMS to Atoms, Springer p.69-108, DOI: https://doi.org/10.1007/978-1-4419-5832-7_4
  • Önal, Ç.D., Özcan, O., Sitti, M. (2010). "Atomic Force Microscopy Based Nanomanipulation Systems", In K. Settler (Ed.), Handbook of Nanophysics: Nanomedicine and Nanorobotics (Chapter 42) p.42-1 -- 42-15, DOI: https://doi.org/10.1201/9781420075496
  • Özcan, O. (2012). "Tip Based Automated Nanomanipulation using Scanning Probe Microscopy", Carnegie Mellon University, Mechanical Engineering Department, Pittsburgh, PA, USA, Full Text
  • Askari, M., Karakadıoğlu, C., Ayhan, F., Özcan, O. (2017). "MinIAQ-II: A Miniature Foldable Quadruped with an Improved Leg Mechanism", IEEE ROBIO’17. IEEE International Conference on Robotics and Biomimetics p.19-25
  • Karakadıoğlu, C., Askari, M., Özcan, O. (2017). "Design and Operation of MinIAQ: An Untethered Foldable Miniature Quadruped with Individually Actuated Legs", IEEE AIM’17. IEEE International Conference on Advanced Intelligent Mechatronics p.247-252