20 citations · 20 across the 8 of their papers we have counts for
9 papers
Imp-ACT: Adaptive Impedance Control and Action Chunking with Transformers to Learn Contact-Rich Manipulation from Demonstrations
Luca Zanetti, Doganay Sirintuna, Idil Ozdamar +3
Contact-rich manipulation requires robots to balance accurate motion tracking with compliant interaction, yet most visual-action policies leave compliance fixed at the controller l…
Context-aware collaborative pushing of heavy objects using skeleton-based intention prediction
Gokhan Solak, Gustavo J. G. Lahr, Idil Ozdamar +1
In physical human-robot interaction, force feedback has been the most common sensing modality to convey the human intention to the robot. It is widely used in admittance control to…
A Machine Learning Approach to Sensor Substitution from Tactile Sensing to Visual Perception for Non-Prehensile Manipulation
Idil Ozdamar, Doganay Sirintuna, Arash Ajoudani
Mobile manipulators are increasingly deployed in complex environments, requiring diverse sensors to perceive and interact with their surroundings. However, equipping every robot wi…
Pushing in the Dark: A Reactive Pushing Strategy for Mobile Robots Using Tactile Feedback
Idil Ozdamar, Doganay Sirintuna, Robin Arbaud +1
For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular,…
Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning
Pietro Balatti, Idil Ozdamar, Doganay Sirintuna +4
This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key…
Enhancing Human-Robot Collaboration Transportation through Obstacle-Aware Vibrotactile Feedback
Doganay Sirintuna, Idil Ozdamar, Juan M. Gandarias +1
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to…
Carrying the uncarriable: a deformation-agnostic and human-cooperative framework for unwieldy objects using multiple robots
Doganay Sirintuna, Idil Ozdamar, Arash Ajoudani
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full contr…
A Shared Autonomy Reconfigurable Control Framework for Telemanipulation of Multi-arm Systems
Idil Ozdamar, Marco Laghi, Giorgio Grioli +3
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Cla…
Step-Change in Friction under Electrovibration
Idil Ozdamar, M. Reza Alipour, Benoit P. Delhaye +2
Rendering tactile effects on a touch screen via electrovibration has many potential applications. However, our knowledge on tactile perception of change in friction and the underly…