Real-time running and jumping pattern generation for bipedal robots based on ZMP and Euler's equations. - Barkan Ugurlu; Atsuo Kawamura (IROS, 2009)

Center of mass based inverse kinematics algorithm for bipedal robot motion on inclined surfaces. - Fariz Ali; Barkan Ugurlu; Atsuo Kawamura (AMC, 2010)

Energy and torque efficient ZMP-based bipedal walking with varying center of mass height. - Aliza Che Amran; Barkan Ugurlu; Atsuo Kawamura (AMC, 2010)

Bipedal walking trajectory generation based on ZMP and Euler's equations of motion. - Barkan Ugurlu; Atsuo Kawamura (Humanoids, 2010)

Eulerian ZMP resolution based bipedal walking: Discussions on the intrinsic angular momentum rate change about center of mass. - Barkan Ugurlu; Atsuo Kawamura (ICRA, 2010)

ZMP-Based Online Jumping Pattern Generation for a One-Legged Robot. - Barkan Ugurlu; Atsuo Kawamura (IEEE Trans. Ind. Electron., 2010)

Bipedal walking energy minimization by reinforcement learning with evolving policy parameterization. - Petar Kormushev; Barkan Ugurlu; Sylvain Calinon; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IROS, 2011)

A framework for sensorless torque estimation and control in wearable exoskeletons. - Barkan Ugurlu; Masayoshi Nishimura; Kazuyuki Hyodo; Michihiro Kawanishi; Tatsuo Narikiyo (AMC, 2012)

Hopping at the resonance frequency: A trajectory generation technique for bipedal robots with elastic joints. - Barkan Ugurlu; Jody Alessandro Saglia; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2012)

Challenges for the policy representation when applying reinforcement learning in robotics. - Petar Kormushev; Sylvain Calinon; Darwin G. Caldwell; Barkan Ugurlu (IJCNN, 2012)

The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans. - Petar Kormushev; Barkan Ugurlu; Luca Colasanto; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IROS, 2012)

Continuous and dynamically equilibrated one-legged running experiments: Motion generation and indirect force feedback control. - Barkan Ugurlu; Takao Kawasaki; Michihiro Kawanishi; Tatsuo Narikiyo (IROS, 2012)

Yaw moment compensation for bipedal Robots via Intrinsic angular momentum Constraint. - Barkan Ugurlu; Jody Alessandro Saglia; Nikos G. Tsagarakis; Darwin G. Caldwell (Int. J. Humanoid Robotics, 2012)

Bipedal Trajectory Generation Based on Combining Inertial Forces and Intrinsic Angular Momentum Rate Changes: Eulerian ZMP Resolution. - Barkan Ugurlu; Atsuo Kawamura (IEEE Trans. Robotics, 2012)

Prototype development and real-time trot-running implementation of a quadruped robot: RoboCat-1. - Kana Kotaka; Barkan Ugurlu; Michihiro Kawanishi; Tatsuo Narikiyo (ICM, 2013)

Actively-compliant locomotion control on rough terrain: Cyclic jumping and trotting experiments on a stiff-by-nature quadruped. - Barkan Ugurlu; Kana Kotaka; Tatsuo Narikiyo (ICRA, 2013)

Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control. - Barkan Ugurlu; Ioannis Havoutis; Claudio Semini; Darwin G. Caldwell (IROS, 2013)

Lower body exoskeleton-supported compliant bipedal walking for paraplegics: How to reduce upper body effort? - Barkan Ugurlu; Hironori Oshima; Tatsuo Narikiyo (ICRA, 2014)

Development of an upper limb exoskeleton powered via pneumatic electric hybrid actuators with bowden cable. - Tomoyuki Noda; Tatsuya Teramae; Barkan Ugurlu; Jun Morimoto (IROS, 2014)

On the Backward Hopping Problem of Legged Robots. - Barkan Ugurlu; Atsuo Kawamura (IEEE Trans. Ind. Electron., 2014)

Bipedal Hopping Pattern Generation for Passively Compliant Humanoids: Exploiting the Resonance. - Barkan Ugurlu; Jody Alessandro Saglia; Nikos G. Tsagarakis; Stephen Morfey; Darwin G. Caldwell (IEEE Trans. Ind. Electron., 2014)

Environmental force estimation for a robotic hand: Compliant contact detection. - Osman Kaya; Mehmet Can Yildirim; Nisan Kuzuluk; Emre Cicek; Ozkan Bebek; Erhan Öztop; Barkan Ugurlu (Humanoids, 2015)

Assessments on the improved modelling for pneumatic artificial muscle actuators. - Luka Peternel; Barkan Ugurlu; Jan Babic; Jun Morimoto (ICAR, 2015)

On the EMG-based torque estimation for humans coupled with a force-controlled elbow exoskeleton. - Jessica Beltran Ullauri; Luka Peternel; Barkan Ugurlu; Yoji Yamada; Jun Morimoto (ICAR, 2015)

Towards balance recovery control for lower body exoskeleton robots with Variable Stiffness Actuators: Spring-loaded flywheel model. - Corinne Doppmann; Barkan Ugurlu; Masashi Hamaya; Tatsuya Teramae; Tomoyuki Noda; Jun Morimoto (ICRA, 2015)

Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller. - Barkan Ugurlu; Paolo Forni; Corinne Doppmann; Jun Morimoto (IROS, 2015)

Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ. - Barkan Ugurlu; Ioannis Havoutis; Claudio Semini; Kana Kayamori; Darwin G. Caldwell; Tatsuo Narikiyo (Auton. Robots, 2015)

Proof of Concept for Robot-Aided Upper Limb Rehabilitation Using Disturbance Observers. - Barkan Ugurlu; Masayoshi Nishimura; Kazuyuki Hyodo; Michihiro Kawanishi; Tatsuo Narikiyo (IEEE Trans. Hum. Mach. Syst., 2015)

An integrated design approach for a series elastic actuator: Stiffness formulation, fatigue analysis, thermal management. - Mehmet Can Yildirim; Polat Sendur; Onur Bilgin; Berk Gulek; Guney Guven Yapici; Barkan Ugurlu (Humanoids, 2017)

A comparison study on observer-based force control of series elastic actuators. - Ahmet Talha Kansizoglu; Emre Sariyildiz; Barkan Ugurlu (AMC, 2018)

Optimal Stiffness Tuning for a Lower Body Exoskeleton with Spring-Supported Passive Joints. - Mehmet Can Yildirim; Polat Sendur; Ahmed Fahmy Soliman; Barkan Ugurlu (BioRob, 2018)

Shoulder Glenohumeral Elevation Estimation based on Upper Arm Orientation. - Sara Hamdan; Erhan Öztop; Jun-ichiro Furukawa; Jun Morimoto; Barkan Ugurlu (EMBC, 2018)

3-D Dynamic Walking Trajectory Generation for a Bipedal Exoskeleton with Underactuated Legs: A Proof of Concept. - Ahmed Fahmy Soliman; Polat Sendur; Barkan Ugurlu (ICORR, 2019)

A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance. - Barkan Ugurlu; Merve Acer; Duygun Erol Barkana; Ikilem Gocek; Ayse Küçükyilmaz; Yunus Ziya Arslan; Halil I. Basturk; Evren Samur; Emre Ugur; Ramazan Unal; Ozkan Bebek (ICORR, 2019)

Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-existence. - Mehmet Can Yildirim; Ahmet Talha Kansizoglu; Sinan Emre; Mustafa Derman; Sinan Coruk; Ahmed Fahmy Soliman; Polat Sendur; Barkan Ugurlu (ICORR, 2019)

An Experimental Study of a Bluetooth Communication System for Robot Motion Control. - Oguzhan Dalgic; Ahmet Tekin; Barkan Ugurlu (IECON, 2019)

Force Reference Extraction via Human Interaction for a Robotic Polishing Task: Force-Induced Motion. - Sara Hamdan; Erhan Öztop; Barkan Ugurlu (SMC, 2019)

Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid. - Petar Kormushev; Barkan Ugurlu; Darwin G. Caldwell; Nikos G. Tsagarakis (Auton. Robots, 2019)

A Stability Analysis for the Acceleration-based Robust Position Control of Robot Manipulators via Disturbance Observer. - Emre Sariyildiz; Hiromu Sekiguchi; Takahiro Nozaki; Barkan Ugurlu; Kouhei Ohnishi (CoRR, 2019)

Stable Control of Force, Position, and Stiffness for Robot Joints Powered via Pneumatic Muscles. - Barkan Ugurlu; Paolo Forni; Corinne Doppmann; Emre Sariyildiz; Jun Morimoto (IEEE Trans. Ind. Informatics, 2019)

A High-Torque Density Compliant Actuator Design for Physical Robot Environment Interaction. - Evan Dunwoodie; Rahim Mutlu; Barkan Ugurlu; Mehmet Can Yildirim; Tarik Uzunovic; Emre Sariyildiz (AMC, 2020)

Design and Development of a Powered Upper Limb Exoskeleton with High Payload Capacity for Industrial Operations. - Sinan Coruk; Mehmet Can Yildirim; Ahmet Talha Kansizoglu; Oguzhan Dalgic; Barkan Ugurlu (ICHMS, 2020)

Active Compliance Control Reduces Upper Body Effort in Exoskeleton-Supported Walking. - Barkan Ugurlu; Hironori Oshima; Emre Sariyildiz; Tatsuo Narikiyo; Jan Babic (IEEE Trans. Hum. Mach. Syst., 2020)

Centroidal Momentum Observer: Towards Whole-Body Robust Control of Legged Robots Subject to Uncertainties. - Dilay Yesildag Oral; Duygun Erol Barkana; Barkan Ugurlu (AMC, 2021)

A Custom Brace Design to Connect a User Limb to an Exoskeleton Link with Minimal Discomfort. - Suleyman Can Cevik; Mustafa Derman; Ramazan Unal; Barkan Ugurlu; Ozkan Bebek (INDIN, 2021)

Agile and stable running locomotion control for an untethered and one-legged hopping robot. - Barkan Ugurlu; Emre Sariyildiz; Takao Kawasaki; Tatsuo Narikiyo (Auton. Robots, 2021)

Robust Locomotion Control of a Self-Balancing and Underactuated Bipedal Exoskeleton: Task Prioritization and Feedback Control. - Ahmed Fahmy Soliman; Barkan Ugurlu (IEEE Robotics Autom. Lett., 2021)

Simulation-based Design and Locomotion Control Implementation for a Lower Body Exoskeleton. - Mustafa Derman; Ahmed Fahmy Soliman; Alihan Kuru; Suleyman Can Cevik; Ramazan Unal; Ozkan Bebek; Barkan Ugurlu (ICPS, 2022)

Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator. - Barkan Ugurlu; Emre Sariyildiz; Ahmet Talha Kansizoglu; Erim Can Ozcinar; Sinan Coruk (IEEE Robotics Autom. Mag., 2022)

Contact Force Distribution Using Centroidal Momentum Feedback for Quadruped Locomotion. - Erim Can Ozcinar; Ozkan Bebek; Barkan Ugurlu (ICM, 2023)

Preview Control-based Jumping and Spot-Jogging Trajectory Generation for Quadruped Robots. - Burak Ozkaynak; Barkan Ugurlu (INDIN, 2023)

Design and Control of a Novel Variable Stiffness Series Elastic Actuator. - Emre Sariyildiz; Rahim Mutlu; Jon Roberts; Chin-Hsing Kuo; Barkan Ugurlu (CoRR, 2023)

Transdisciplinarity as a Learning Challenge: Student Experiences and Outcomes in an Innovative Course on Wearable and Collaborative Robotics. - Ebru Kilic-Bebek; Kostas Nizamis; Mark Vlutters; Ozkan Bebek; Zeynep G. Karapars; Ramazan Unal; Deniz Yilmaz; Barkan Ugurlu (IEEE Trans. Educ., 2023)

Human-in-the-Loop Training Leads to Faster Skill Acquisition and Adaptation in Reinforcement Learning-Based Robot Control. - Deniz Yilmaz; Barkan Ugurlu; Erhan Öztop (AMC, 2024)