Publications

Journals: [J], Conference Paper: [C], Poster Presentation: [PP], Patent: [PT]

[J02] M.C. Yildirim, P. Sendur, A.T. Kansizoglu, U. Uras, O. Bilgin, S. Emre, G.G. Yapici, M. Arik, and B. Ugurlu, "Design and Development of a Durable Series Elastic Actuator with an Optimized Spring Topology" Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 235, no. 24, pp. 7848-7858, Dec 2021 [link]

[J01] A. Ahmad, S.O. Orhan, M.C. Yildirim, and O. Bebek, “Development and 3D Spatial Calibration of a Parallel Robot for Percutaneous Needle Procedures with 2D Ultrasound Guidance. ” Journal of Medical Robotics Research, vol. 2, no. 4, pp. 1750007, Dec 2017. [link]

[C13] E. Pozo Fortunic, M. C. Yildirim, D. Ossadnik, A. Swikir, S. Abdolshah, and S. Haddadin. "Bi-Stiffness Actuation - Controlling the timing between elastic joint energy and gravity potential. " 40th International Conference on Robotics and Automation (ICRA) 2023, Submitted

[C12] D. Ossadnik, M.C. Yildirim, F. Wu, A. Swikir, H. T. M. Kussaba, S. Abdolshah, and S. Haddadin. "BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots" In 39th International Conference on Robotics and Automation (IROS) 2022, Accepted.

[C11] M.C. Yildirim, M. Sabaghian, T. Goll, C. Koessler, C. Jaehne, A. Swikir, A. Sarabakha, and S. Haddadin. "Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result" In the proc of 39th International Conference on Robotics and Automation (ICRA) 2022, pp. 5769-5775, 2022 [link]

[C10] S. Coruk, A.F. Soliman, O. Dalgic, M.C. Yildirim, D. Ugur, and B. Ugurlu. "Towards Crutch-Free 3-D Walking Support with the Lower Body Exoskeleton Co-Ex: Self-balancing Squatting Experiments" in proc. of The International Symposium on Wearable Robotics, pp 313-318, 2020

[C09] E. Dunwoodie, R. Mutlu, B. Ugurlu, M.C. Yildirim, T. Uzunovic, and E. Sariyildiz. "A High-Torque Density Compliant Actuator Design for Physical Robot Environment Interaction". In 2020 IEEE 16th International Workshop on Advanced Motion Control (AMC) (pp. 1-6). IEEE, 2020.

[C08] S. Coruk, M.C. Yildirim, A.T. Kansizoglu, O. Dalgic, and B. Ugurlu. "Design and Development of a Powered Upper Limb Exoskeleton with High Payload Capacity for Industrial Operations." In 2020 IEEE International Conference on Human-Machine Systems (ICHMS), pp. 1-4. IEEE, 2020.

[C07] O. Ersoy, M. C. Yildirim, A. Ahmad, O. D. Yirmibesoglu, N. Koroglu, and O. Bebek, 'Design and Kinematics of a 5-DOF Parallel Robot for Beating Heart Surgery' IEEE International Conference on Advanced Robotics and Mechatronics (ARM), 2019,

[C06] M.C. Yildirim, A.T. Kansizoglu, S. Emre, M. Derman, S. Coruk, A.H. Soliman, P. Sendur, and B. Ugurlu, ‘Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-existence” International Conference on Rehabilitation Robotics (ICORR), 2019.

[C05] M.C. Yildirim, A.T. Kansizoglu, P. Sendur, and B. Ugurlu, ‘High Power Series Elastic Actuator Development for Torque-Controlled Exoskeletons” in proc. of The International Symposium on Wearable Robotics, Pisa, Italy, 2018, pp 70-74 [link]

[C04] M.C. Yildirim, P. Sendur, A.F. Soliman, and B. Ugurlu, “Optimal Stiffness Tuning for a Lower Body Exoskeleton with Spring-Supported Passive Joints” in proc. of IEEE-RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics – Biorob, Enschede, The Netherlands, 2018, pp. 531-536. [link]

[C03] M.C. Yildirim, P. Sendur, O. Bilgin, B. Gulek, G.G. Yapici, and B. Ugurlu, “An Integrated Design Approach for a Series Elastic Actuator: Stiffness Tuning, Fatigue Analysis, Thermal Management” in Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Birmingham, UK, Nov 2017. [link]

[C02] S.O. Orhan, M.C. Yildirim, and O. Bebek, “Design and modelling of a parallel robot for ultrasound-guided percutaneous needle interventions.” in Proceedings of the IEEE-Industrial Electronics Society, IECON, Yokohama, Japan, Nov 2015. [link]

[C01] O. Kaya, M.C. Yildirim, N. Kuzuluk, E. Çiçek, O. Bebek, E. Oztop, and B. Ugurlu, “Environmental force estimation for a robotic hand: compliant contact detection,” in Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Seoul, South Korea, Nov 2015. [link]

[PP01] M.C. Yildirim, A.T. Kansizoglu, P. Sendur, S. Coruk, and B. Ugurlu“BDevelopment of a High Torque-to-Mass Ratio Series Elastic Actuator” presented in International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018.

[PT03] Yildirim, Mehmet Can, Ugurlu, Barkan, Sendur, Polat, Emre, Sinan, Derman, Mustafa, and Coruk, Sinan. 2019. A Wearable Lower Extremity Exoskeleton. PCT/TR2019/050483, filed Jun 2019. Patent Pending.

[PT02] Yildirim, Mehmet Can, Bebek, Özkan, and Ugurlu, Barkan. 2018. Robotic Manipulator Including Pneumatic Artificial Muscle. PCT/TR2018/050474, filed Sep 2018. Patent Pending.

[PT01] Yildirim, Mehmet Can, and Bebek, Özkan. 2017. Customizable Flywheel Actuated Angular Momentum Driven Inertia Controlled Robotic Arm for Zero-G and Low G Applications. TPI 2017/22855, filed Dec 2017. Patent Pending.