MİNYATÜR ROBOTİK LABORATUVARI

Labımız 2015 yılı Ocak ayında Bilkent Üniversitesi Makine Mühendisliği Bölümünün bir parçası olarak Dr. Onur Özcan tarafından kuruldu.

Labımızın temel araştırma alanları özgün minyatür robotik sistemlerdir. Minyatür robot üretiminde kullanılabilecek geleneksel olmayan üretim teknikleri, minyatür robotlar için özgün eyleyiciler ve tahrik mekanizmaları, minyatür robot hareketinin dayandığı küçük boyut fiziği ve minyatürleşmeye izin veren özgün robot tasarımları ilgi alanlarımızı oluşturur.

Geliştirdiğimiz robotlar tehlikeli şartlarda bulunan ve/veya dar açıklıklardan geçilerek ulaşılabilen ortamlara ulaşmak için ve bu tarz alanlarda arama-kurtarma, denetim ve bilgi alma faaliyetleri yürütmek için kullanılabilir.

Projelerimiz TÜBİTAK’ın 2232, 3001, 3501 ve 1003 programları dahilinde desteklenmektedir.

Daha detaylı bilgi için labımızın websitesini ziyaret edin.

İLGİLİ YAYINLAR

  • Askari, M., Uğur, M., Mahkam, N., Yeldan, A., Özcan, O. (2023). "Control and Study of Bio-Inspired Quadrupedal Gaits on an Underactuated Miniature Robot", Bioinspiration & Biomimetics, v.18(2) p.026004, DOI: https://doi.org/10.1088/1748-3190/acb127
  • Özbek, D., Yılmaz, T.B., Kalın, M.A.İ., Özcan, O. (2022). "Design and Fabrication of Soft 3D Printed Sensors and Performance Analysis of the Soft Sensors in a C-Leg as Sensing Element", Hittite Journal of Science and Engineering, v.9(3) p.193-204, DOI: https://doi.org/10.17350/HJSE19030000271
  • Uğur, M., Uygun, M., Bakır, A., Özcan, O. (2022). "Path Tracking and Connection Mechanism of a Reconfigurable, Foldable, Legged, and Miniature Robot", Hittite Journal of Science and Engineering, v.9(3) p.205-211, DOI: https://doi.org/10.17350/HJSE19030000272
  • Özbek, D., Yılmaz, T.B., Kalın, M.A.İ., Şentürk, K., Özcan, O. (2022). "Detecting Scalable Obstacles using Soft Sensors in the Body of a Compliant Quadruped", IEEE Robotics & Automation Letters, v.7(2) p.1745-1751, DOI: https://doi.org/10.1109/LRA.2022.3141655
  • Mahkam, N., Uğur, M., Özcan, O. (2022). "Effect of Feet Failure and Control Uncertainties on the Locomotion of Multi-Legged Miniature Robots", IEEE Robotics & Automation Letters, v.7(2) p.5568-5574, DOI: https://doi.org/10.1109/LRA.2022.3157945
  • Mahkam, N., Özcan, O. (2021). "Gait and Locomotion Analysis of a Soft-Hybrid Multi-Legged Modular Miniature Robot", Bioinspiration & Biomimetics, v.16(6) p.066009, DOI: https://doi.org/10.1088/1748-3190/ac245e
  • Mahkam, N., Özcan, O. (2021). "A Framework for Dynamic Modeling of Legged Modular Miniature Robots with Soft Backbones", Robotics and Autonomous Systems, v.144 p.103841, DOI: https://doi.org/10.1016/j.robot.2021.103841
  • Güç, A.F., Yumrukçal, Z., Özcan, O. (2020). "Nonlinear Identification and Optimal Feedforward Friction Compensation for a Motion Platform", Mechatronics, v.71 p.102408, DOI: https://doi.org/10.1016/j.mechatronics.2020.102408
  • 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
  • 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
  • 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., 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
  • 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., 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
  • 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
  • Uğur, N., Arslan, B., Özzeybek, A., Özcan, O. (2023). "Effects of Compliance on Path-Tracking Performance of a Miniature Robot", IEEE 6th International Conference on Soft Robotics (RoboSoft), 2023 (Under Review)
  • Bakır, A., Özbek, D., Abazari, A., Özcan, O. (2023). "SCoReR: Sensorized Collision Resilient Aerial Robot", IEEE 6th International Conference on Soft Robotics (RoboSoft), 2023 (Under Review)
  • Mahkam, N., Yılmaz, T.B., Özcan, O. (2021). "Smooth and Inclined Surface Locomotion and Obstacle Scaling of a C-Legged Miniature Modular Robot", IEEE 4th International Conference on Soft Robotics (RoboSoft), 2021 p.9-14, DOI: https://doi.org/10.1109/RoboSoft51838.2021.9479218
  • 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
  • Mahkam, N., Özgüven, Ö.B., Özcan, O. (2019). "Katlanabilir Moduler Minyatur Robotlar Icin Esnek Omurga Modulu Tasarimi (En iyi makale ödülü)", Türkiye Robotbilim Konferansı (TORK), İstanbul, Türkiye
  • Askari, M., Yeldan, A., Özcan, O. (2019). "Katlanabilir Robotlarda Uretim Kaynakli Boyutsal Kacikliklarin Bacak Yorungesine ve Robot Dinamiklerine Etkileri", Türkiye Robotbilim Konferansı (TORK), İstanbul, Türkiye
  • Güç, A.F., Yumrukçal, Z., Özcan, O. (2019). "Iki Eksenli Gimbal Sistemlerinin Benzetiminde Dogrusal Olmayan Surtunme Etkilerinin Tanilanmasi", Türkiye Robotbilim Konferansı (TORK), İstanbul, Türkiye
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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