6 papers
Affordance-Based Hierarchical Reinforcement Learning for Quadruped Pedipulation
Tuba Girgin, Jose Castelblanco, Gabriel Rodriguez +2
The object manipulation capabilities of quadruped robots is an open research challenge. While previous studies have focused on low-level policy learning, task execution still relie…
Learning Contact Representation for Leg Odometry
Emre Girgin, Cagri Kilic
Leg odometry relies on the assumption that the velocity of a foot in stance is zero with respect to the world, which makes accurate contact detection a critical subproblem. Many ap…
OCELOT: Odometry and Contact Estimation for Legged Robots
Emre Girgin, Cagri Kilic
One of the significant challenges in legged robotics is achieving accurate odometry using only onboard proprioceptive sensors. In this study, we present a complete leg odometry pip…
Learning Rock Pushability on Rough Planetary Terrain
Tuba Girgin, Emre Girgin, Cagri Kilic
In the context of mobile navigation in unstructured environments, the predominant approach entails the avoidance of obstacles. The prevailing path planning algorithms are contingen…
EdgeAI Drone for Autonomous Construction Site Demonstrator
Emre Girgin, Arda Taha Candan, Coşkun Anıl Zaman
The fields of autonomous systems and robotics are receiving considerable attention in civil applications such as construction, logistics, and firefighting. Nevertheless, the widesp…
Bidirectional Human Interactive AI Framework for Social Robot Navigation
Tuba Girgin, Emre Girgin, Yigit Yildirim +2
Trustworthiness is a crucial concept in the context of human-robot interaction. Cooperative robots must be transparent regarding their decision-making process, especially when oper…