Publications

Except [OJ1-OJ5], all the articles are not open-accessible. I don't like that. Try to click on "pdf" links -wherever exists- to view their pre-print versions through my Google drive account. If that does not work, just simply send an e-mail. Original versions can be accessed via the related publisher if you have access to their database. In that case, just click on the link. 

[J]: Journal article (SCI), [BC]: Book Chapter, [OJ]: Other journal articles, [IC]: International Conference paper.

You may also check out my Google Scholar page.

Journal Publications (all SCI indexed)

[J21] Tugce Caliskan, Ahmed Fahmy Soliman, Aleyna Arslan, Ozkan Bebek, Barkan Ugurlu, Merve Acer Kalafat, and Ikilem Gocek, Design and Experimental Characterization of Resistive Force Transducers Manufactured via Screen-Printing, Proc. of the iMeche, Part C: Journal of Mechanical Engineering Science,  Accepted, 2025. 

[J20] Suleyman Can Cevik, Ahmed Fahmy Soliman, Mustafa Derman, Sinan Coruk, Ramazan Unal, Barkan Ugurlu, and Ozkan Bebek Improving Exoskeleton Brace Design: Alleviating Misalignment and Parasitic Forces, Journal of Mechanisms and Robotics - Transactions of the ASME, vol. 17, no. 9, 2025.

[J19] Ahmed Fahmy Soliman, Sinan Coruk, Mehmet C. Yildirim, Deniz Ugur, Suleyman Can Cevik, Burak Ozkaynak, Polat Sendur, and  Barkan Ugurlu, Design, Development, and Control for the Self- Stabilizing Bipedal Exoskeleton Prototype Co-Ex, IEEE/ASME Transactions on Mechatronics, vol. 30, no. 1, pp. 458-468, 2025.

[J18] Ebru Kilic-Bebek, Kostas Nizamis, Mark Vlutters, Ozkan Bebek, Zeynep G. Karapars, Ramazan Unal, Deniz Yilmaz, and  Barkan Ugurlu, Transdisciplinarity as a Learning Challenge: Student Experiences and Outcomes in an Innovative Course on Wearable and Collaborative Robotics, IEEE Transactions on Education, vol. 66, no. 3, pp. 263-273, 2023.

[J17] Emre Sariyildiz, Rahim Mutlu, Jon Roberts, Chin-Hsing Kuo, and  Barkan Ugurlu, Design and Control of a Novel Variable Stiffness Series Elastic Actuator, IEEE/ASME Transactions on Mechatronics, vol. 28, no.3, pp 1534-1545, 2023.

[J16] Barkan Ugurlu, Emre Sariyildiz, Ahmet Talha Kansizoglu, Erim Can Ozcinar, and Sinan Coruk, Benchmarking Torque Control Strategies for a Torsion based Series Elastic Actuator, IEEE Robotics & Automation Magazine, vol. 29, no. 2, pp. 85-96, 2022.  (Open Access)

[J15] Mehmet C. Yildirim, Polat Sendur, Ahmet Talha Kansizoglu, Umut Uras, Onur Bilgin, Sinan Emre, Guney Guven Yapici, Mehmet Arik, and Barkan Ugurlu, Design and Development of a Durable Series Elastic Actuator with an Optimized Spring Topology, Proc. of the iMeche, Part C: Journal of Mechanical Engineering Science,  vol. 235, no 24, pp. 7848-7858, 2021. [pdf]

[J14] Barkan Ugurlu, Emre Sariyildiz, Takao Kawasaki, and Tatsuo Narikiyo, Agile and Stable Running Locomotion Control for an Untethered and One-Legged Hopping Robot, Autonomous Robots, vol. 45, no. 6, pp. 805-819, 2021.  [pdf]

[J13] Ahmed Fahmy Soliman, and Barkan Ugurlu, Robust Locomotion Control of a Self-Balancing and Underactuated Bipedal Exoskeleton: Task Prioritization and Feedback Control, IEEE Robotics and Automation Letters, vol. 6, no.3, July 2021, pp. 5626-5633.  [pdf]

[J12] Barkan Ugurlu, Hironori Oshima, Emre Sariyildiz, and Tatsuo Narikiyo, Jan Babic, Active Compliance Control Reduces Upper Body Effort in Exoskeleton-Supported Walking, IEEE Transactions on Human-Machine Systems, vol. 50, no. 2,  April 2020, pp. 144-153.  [pdf]

[J11] Barkan Ugurlu, Paolo Forni, Corinne Doppmann, Emre Sariyildiz, and Jun Morimoto, Stable Control of Force, Position, and Stiffness for Robot Joints Powered via Pneumatic Muscles, IEEE Transactions on Industrial Informatics, vol. 15, no. 12, December 2019, pp. 6270-6279.  [pdf]

[J10] Petar Kormushev, Barkan Ugurlu, Darwin G. Caldwell, and Nikos G. Tsagarakis, Learning to Exploit Passive Compliance for Energy-Efficient Gait Generation on a Compliant Humanoid, Autonomous Robots, vol 43, no 1, January 2019, pp 79-95.  [pdf]

[J9] Emre Sariyildiz, Hiromu Sekiguchi, Takahiro Nozaki, Barkan Ugurlu, and Kouhei Ohnishi, A Stability Analysis for the Acceleration-based Robust Position Control of Robot Manipulators via  Disturbance Observer, IEEE/ASME Transactions on Mechatronics, vol. 23, no, 5, July 2018, pp. 2369-2378.  [pdf]

[J8] Barkan Ugurlu, Corinne Doppmann, Masashi Hamaya, Paolo Forni, Tatsuya Teramae, Tomoyuki Noda, and Jun Morimoto, Variable Ankle Stiffness Improves Balance Control: Experiments on a Bipedal Exoskeleton, IEEE/ASME Transactions on Mechatronics, vol. 21, no.1, February 2016, pp. 79-87.  [pdf]

[J7] Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Kana Kayamori, Darwin G. Caldwell, and Tatsuo Narikiyo, Pattern Generation and Compliant Feedback Control for Quadrupedal Dynamic Trot-Walking Locomotion: Experiments on RoboCat-1 and HyQ, Autonomous Robots, vol. 38. no. 4, April 2015, pp. 415-437.  [pdf]

[J6] Barkan Ugurlu, Masayoshi Nishimura, Kazuyuki Hyodo, Michihiro Kawanishi, and Tatsuo Narikiyo, Proof of Concept for Robot-aided Upper Limb Rehabilitation Using Disturbance Observers, IEEE Transactions on Human-Machine Systems, vol. 45, no. 1, February 2015, pp. 110-118.  [pdf]

[J5] Barkan Ugurlu, Jody A. Saglia, Nikos G. Tsagarakis, Stephen Morfey, and Darwin G. Caldwell, Bipedal Hopping Pattern Generation for Passively Compliant Humanoids: Exploiting the Resonance, IEEE Transactions on Industrial Electronics, vol. 61, no. 10, October 2014, pp. 5431-5443.  [pdf]

[J4] Barkan Ugurlu, and Atsuo Kawamura, On the Backwards Hopping Problem of Legged Robots, IEEE Transactions on Industrial Electronics, vol. 61, no. 3, March 2014, pp. 1632-1634.  (Letter) [pdf] 

[J3] Barkan Ugurlu, and Atsuo Kawamura, Bipedal Trajectory Generation based on Combining Inertial Forces and Intrinsic Angular Momentum Rate Changes: Eulerian ZMP Resolution, IEEE Transactions on Robotics, vol. 28, no. 6, December 2012, pp. 1406-1415.  [pdf]

[J2] Barkan Ugurlu, Jody A. Saglia, Nikos G. Tsagarakis, and Darwin G. Caldwell, Yaw Moment Compensation for Bipedal Robots via Intrinsic Angular Momentum Constraint, International Journal of Humanoid Robotics, vol.9, no.4, December 2012. [pdf]

[J1] Barkan Ugurlu, and Atsuo Kawamura, ZMP-Based Online Jumping Pattern Generation for a One-Legged Robot, IEEE Transactions on Industrial Electronics, vol. 57, no. 5, May 2010, pp. 1701-1709.  [pdf]

Other Journal Contributions

[OJ5] Erim Can Özçınar, and Barkan Uğurlu, Reaction Force Observer based Torque Control, Gazi University, Journal of Polytechnic, vol 24, no.4, December 2021, pp. 1629-1635. (in Turkish; Open-access)

[OJ4] Jan Babic, Matteo Laffranchi, Federico Tessari, Tom Verstraten, Domen Novak, Nejc Sarabon, Barkan Ugurlu, Luka Peternel, Diego Torricelli, and Jan F. Veneman, Challenges and Solutions for Application and Wider Adoption of Wearable Robots , Wearable Technologies, vol 2, e14, November 2021 . (Open-access)

[OJ3] Mehmet C. Yıldırım, Polat Şendur, and Barkan Uğurlu,  Mechanical Design Procedures for Series Elastic Actuators, Pamukkale University, Journal of Engineering Sciences, vol. 25, no 1, January 2019, pp. 34 - 42. (in Turkish; Open-access)

[OJ2] Tatsuo Narikiyo, Taiga Matsumoto, Barkan Ugurlu, and Michihiro Kawanishi, Compliant Locomotion Control for a Quadruped Robot with Damper Coefficients Assigned by Reinforcement Learning, Journal of the Robotics Society of Japan (RSJ), vol. 35, no. 7, 2017, pp. 414-423. (in Japanese; Open-access)

[OJ1] Barkan Ugurlu, and Atsuo Kawamura, Online Running Trajectory Planning for Bipedal Robots based on ZMP and Euler's Equations, Japan Society of Mechanical Engineering (JSME), Journal of System Design and Dynamics, vol. 4, no. 1, January 2010, pp. 26-37. (Open-access)

Invited Book Chapter Contributions

[BC2] Barkan Ugurlu, and Serena Ivaldi, Chapter 35: Free Simulation Software and Library, in the book, titled "Humanoid Robotics: A Reference", Editors: Prahlad Vadakkepat, Ambarish Goswami, and Jong-Hwan Kim, Springer, May 2018, in print.

[BC1] Barkan Ugurlu, and Atsuo Kawamura, Chapter 6: Prototyping and Implementation of Bipedal Humanoid Robots: Dynamically Equilibrated Multimodal Motion Generation, in the book, titled "Prototyping of Robotic Systems: Applications of Design and Implementation", Editors: Tarek Sobh and Xingguo Xiong, IGI Global Publishing US, February 2012, (DOI: 10.4018/978-1-4666-0176-5).

International Conference Proceedings (All peer-reviewed)

[IC49] Deniz Yilmaz, Barkan Ugurlu, and Erhan Oztop, Human-in-the-Loop Training Leads to Faster Skill Acquisition and Adaptation in Reinforcement Learning-Based Robot Control, in Proc. of the IEEE International Workshop on Advanced Motion Control (AMC), Kyoto, Japan, 2024, pp. 1-6.  

[IC48] Burak Ozkaynak, and Barkan Ugurlu, Preview Control-based Jumping and Spot-Jogging Trajectory Generation for Quadruped Robots, in Proc. of the IEEE International Conference on Industrial Informatics (INDIN), Lemgo, Germany, 2023, pp. 1-6.  

[IC47] Erim Can Ozcinar, Ozkan Bebek, and Barkan Ugurlu, Contact Force Distribution Using Centroidal Momentum Feedback for Quadruped Locomotion, in Proc. of the IEEE International Conference on Mechatronics  (ICM), Loughborough, UK, pp. 1-6, 2023. [pdf]

[IC46] Dilay Yesildag Oral, Duygun Erol Barkana, and Barkan Ugurlu, Centroidal Momentum Observer: Towards Whole-Body Robust Control of Legged Robots Subject to Uncertainties, in Proc. of the IEEE International Workshop on Advanced Motion Control (AMC), Padova, Italy, 2022, pp. 432-437. [pdf] 

[IC45] Suleyman Can Cevik, Mustafa Derman, Ramazan Unal, Barkan Ugurlu, and Ozkan Bebek, A Custom Brace Design to Connect a User Limb to an Exoskeleton Link with Minimal Discomfort, in Proc. of the IEEE International Conference on Industrial Informatics (INDIN), Palma de Mallorca, Spain, 2021.  [pdf] 

[IC44] Sinan Coruk, Ahmed Fahmy Soliman, Oguzhan Dalgic, Mehmet C. Yildirim, and Barkan Ugurlu,  Towards Crutch-Free 3-D Walking Support with the Lower Body Exoskeleton Co-Ex: Preliminary Experiments, in Proc. of the International Symposium on Wearable Robotics (WeRob), Vigo, Spain, 2020, pp. 313-317.  [pdf] 

[IC43] Ebru Kilic-Bebek, Kostas Nizamis, Zeynep Karapars, Ali Gokkurt , Ramazan Unal, Ozkan Bebek, Mark Vlutters, E. B. Vander Poorten, Gianni Borghesan , Wilm Decré, Erwin Aertbeliën, Olga Borisova , Ivan Borisov, Sergey Kolyubin, Melike Kodal, and  Barkan Ugurlu, Discussing Modernizing Engineering Education through the Erasmus + Project Titled "Open Educational Resources on Enabling Technologies in Wearable and Collaborative Robotics (WeCoRD), in Proc. of the 3rd International Instructional Technologies in Engineering Education Symposium (IITEE ), Izmir, Turkey, 2020, Accepted. [pdf] 

[IC42] Sinan Coruk, Mehmet C. Yildirim, A. Talha Kansizoglu, Oguzhan Dalgic, and  Barkan Ugurlu, Design and Development of a Powered Upper Limb Exoskeleton with High Payload Capacity for Industrial Operations, in Proc. of the IEEE International Conference on Human-Machine Systems (ICHMS), Roma, Italy, 2020, . [pdf] 

[IC41] Evan Dunwoodie, Rahim Mutlu, Mehmet C. Yildirim, Barkan Ugurlu, and Emre Sariyildiz, A High-Torque Density Compliant Actuator Design for Physical Robot Environment Interaction, in Proc. of the IEEE International Workshop on Advanced Motion Control (AMC), Adger, Norway, 2020, pp. 235-240.

[IC40] Oguzhan Dalgic, Ahmet Tekin, and Barkan Ugurlu, An Experimental Study of a Bluetooth Communication System for Robot Motion Control, in Proc. of the IEEE International Conference on Industrial Electronics and Control (IECON), Lisbon, Portugal, 2019, pp. 604-609.  [pdf] 

[IC39] Sara Hamdan, Erhan Oztop, and Barkan Ugurlu, Force Reference Extraction via Human Interaction for a Robotic Polishing Task: Force-Induced Motion, in Proc. of the IEEE International Conference on System, Man and Cybernetics (SMC), Bari, Italy, 2019, pp. 4019-4024. [pdf]  

[IC38] Mehmet Can Yildirim, Ahmet Talha Kansizoglu, Sinan Emre, Mustafa Derman, Sinan Coruk, Ahmed Fahmy Soliman, Polat Sendur, and Barkan Ugurlu, Co-Ex: A Torque-Controllable Lower Body Exoskeleton for Dependable Human-Robot Co-Existence, in Proc. of the IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, Canada, 2019, pp. 605-610. [pdf] 

[IC37] Ahmed Fahmy Soliman, Polat Sendur, and Barkan Ugurlu, 3-D Dynamic Walking Trajectory Generation for a Bipedal Exoskeleton with Underactuated Legs: A Proof of Concept, in Proc. of the IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, Canada, 2019, pp. 599-604. [pdf] 

[IC36] Barkan Ugurlu, Merve Acer, Duygun Erol Barkana, Ikilem Gocek, Ayse Kucukyilmaz, Yunus Ziya Arslan, Halik Basturk, Evren Samur, Emre Ugur, Ramazan Unal, and Ozkan Bebek, A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance, in Proc. of the IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, Canada, 2019, pp 518-523. [pdf] 

[IC35] Polat Sendur, and Barkan Ugurlu, Application of a Disturbance Observer based Algorithm to Improve Vehicle Ride, in Proc. of the 26th International Congress on Sound and Vibration (ICSV26), Montreal, Canada, 2019. [pdf] 

[IC34] Mehmet Can Yildirim, Ahmet Talha Kansizoglu, Polat Sendur, and Barkan Ugurlu, High Power Series Elastic Actuator Development for Torque-Controlled Exoskeletons, in Proc. of the International Symposium on Wearable Robotics (WeRob), Pisa, Italy, 2018, pp 70-74. [pdf] 

[IC33] Mehmet Can Yildirim, Polat Sendur, Ahmed Fahmy Soliman, and Barkan Ugurlu, Optimal Stiffness Tuning for a Lower Body Exoskeleton with Spring-Supported Passive Joints, in Proc. of the IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Enschede, The Netherlands, 2018, pp. 531-536. [pdf] 

[IC32] Sara Hamdan, Erhan Oztop, Jun-ichiro Furukawa, Jun Morimoto, and Barkan Ugurlu, Shoulder Glenohumeral Elevation can be Estimated via Gaussian Regression with Upper Arm Orientation, in Proc. of the IEEE International Conference on Engineering in Medicine and Biology Society (EMBC), Honolulu, US, 2018, pp 1481-1484. [pdf]  

[IC31] Ahmet Talha Kansizoglu, Emre Sariyildiz, and Barkan Ugurlu, A Comparison Study on Observer-based Force Control of Series Elastic Actuators, in Proc. of the IEEE International Workshop on Advanced Motion Control (AMC), Tokyo, Japan, 2018, pp. 411-416. [pdf]  

[IC30] Mehmet Can Yildirim, Polat Sendur, Onur Bilgin, Berk Gulek, Guney Guven Yapici, Barkan Ugurlu, An Integrated Design Approach for a Series Elastic Actuator: Stiffness Tuning, Fatigue Analysis, Thermal Management , in Proc. of the IEEE International Conference on Humanoid Robotics (Humanoids), Birmingham, UK, 2017, pp. 384-389. [pdf]  

[IC29] Osman Kaya, Mehmet Can Yildirim, Nisan Kuzuluk, Emre Cicek, Ozkan Bebek, Erhan Oztop, Barkan Ugurlu, Environmental Force Estimation for a Robotic Hand: Compliant Contact Detection, in Proc. of the IEEE International Conference on Humanoid Robotics (Humanoids), Seoul, Korea, 2015, pp. 791-796. [pdf]  

[IC28] Barkan Ugurlu, Paolo Forni, Corinne Doppmann, and Jun Morimoto, Torque and Variable Stiffness Control for Antagonistically Driven Pneumatic Muscle Actuators via a Stable Force Feedback Controller, in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015, pp. 1633-1639. [pdf] 

[IC27] Corinne Doppmann, Barkan Ugurlu, Masashi Hamaya, Tatsuya Teramae, Tomoyuki Noda, and Jun Morimoto, Towards Balance Recovery Control for Lower Body Exoskeleton Robots with Variable Stiffness Actuators: Spring-Loaded Flywheel Model, in Proc. of the IEEE International Conference on Robotics and Automation  (ICRA), Seattle, US, 2015, pp. 5551-5556. [pdf] 

[IC26] Luka Peternel, Barkan Ugurlu, Yoji Yamada, and Jun Morimoto, Assessments on the improved modelling for pneumatic artificial muscle actuators, in Proc. of the IEEE International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 2015.

[IC25] Jessica Beltran Ullauri, Luka Peternel, Barkan Ugurlu, Yoji Yamada, and Jun Morimoto, On the EMG-based torque estimation for humans coupled with a force-controlled elbow exoskeleton, in Proc. of the IEEE International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 2015.

[IC24] Tomoyuki Noda, Tatsuya Teramae, Barkan Ugurlu, and Jun Morimoto, Development of an Upper Limb Exoskeleton Powered via Pneumatic Electric Hybrid Actuators with Bowden Cable, in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, US, 2014, pp. 3573-3578. [pdf] 

[IC23] Barkan Ugurlu, Hironori Oshima, and Tatsuo Narikiyo, Lower Body Exoskeleton-Supported Compliant Bipedal Walking for Paraplegics: How to Reduce Upper Body Effort?, in Proc. of the IEEE International Conference on Robotics and Automation  (ICRA), Hong Kong, 2014, pp. 1354-1360. [pdf]

[IC22] Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, and Darwin Caldwell, Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control, in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, 2013, pp. 6044-6051. [pdf]

[IC21] Barkan Ugurlu, Kana Kotaka, and Tatsuo Narikiyo, Actively-Compliant Locomotion Control on Rough Terrain: Cyclic Jumping and Trotting Experiments on a Stiff-by-Nature Quadruped, in Proc. of the IEEE International Conference on Robotics and Automation  (ICRA), Karlsruhe, Germany, pp. 3298-3305, 2013. [pdf]

[IC20] Kana Kotaka, Barkan Ugurlu, Michihiro Kawanishi, and Tatsuo Narikiyo, Prototype Development and Real-time Trot-Running Implementation of a Quadruped Robot: RoboCat-1, in Proc. of the IEEE International Conference on Mechatronics  (ICM), Vicenza, Italy, pp. 604-609, 2013. [pdf]

[IC19] Barkan Ugurlu, Takao Kawasaki,  Michihiro Kawanishi, and Tatsuo Narikiyo, Continuous and Dynamically Equilibrated One-Legged Running Experiments: Motion Generation and Indirect Force Feedback Control, in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Algarve, Portugal, 2012, pp. 1846-1852. (YouTube Link) [pdf] 

[IC18] Petar Kormushev, Barkan Ugurlu, Luca Colasanto,  Nikos G. Tsagarakis, and Darwin G. Caldwell, The Anatomy of a Fall: Automated Real-time Analysis of Raw Force Sensor Data from Bipedal Walking Robots and Humans, in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Algarve, Portugal, 2012, pp. 3706-3713. [pdf]

[IC17] Barkan Ugurlu, Jody A. Saglia,  Nikos G. Tsagarakis, and Darwin G. Caldwell, Hopping at the Resonance Frequency: A Trajectory Generation Technique for Bipedal Robots with Elastic Joints, in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), St. Paul, US, 2012, pp. 1436-1443. [pdf]

[IC16] Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell, and Barkan Ugurlu, Challenges for the Policy Representation when Applying Reinforcement Learning in Robotics, in Proc. of the IEEE International Joint Conference on Neural Networks (IJCNN), Brisbane, Australia, 2012, pp. 1-8. [pdf]

[IC15] Barkan Ugurlu, Masayoshi Nishimura, Kazuyuki Hyodo, Michihiro Kawanishi, and Tatsuo Narikiyo, A Framework for Sensorless Torque Estimation and Control in Wearable Exoskeletons, in Proc. of the IEEE International Workshop on Advanced Motion Control (AMC), Sarajevo, Bosnia & Herzegovina, 2012, pp. 1-7. [pdf]

[IC14] Petar Kormushev, Barkan Ugurlu, Sylvain Calinon,  Nikos G. Tsagarakis, and Darwin G. Caldwell, Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Parameterization, in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, US, 2011, pp. 318-324. [pdf]

[IC13] Barkan Ugurlu, Nikos G. Tsagarakis, Emmanouil Spyrakos-Papastravridis, and Darwin G. Caldwell, Compliant Joint Modification and Real-Time Dynamic Walking Implementation on Bipedal Robot cCub, in Proc. of the IEEE International Conference on Mechatronics  (ICM), Istanbul, Turkey, 2011, pp. 833-838. [pdf]

[IC12] Barkan Ugurlu, and Atsuo Kawamura, Bipedal Walking Trajectory Generation based on ZMP and Euler's Equations of Motion,in Proc. of the IEEE International Conference on Humanoid Robots (Humanoids), Nashville, US, 2010, pp. 468-473. [pdf]

[IC11] Barkan Ugurlu, and Atsuo Kawamura, Eulerian ZMP Resolution based Bipedal Walking: Discussions on the Intrinsic Angular Momentum Rate Change about Center of Mass, in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, US, 2010, pp. 4218-4223. [pdf]

[IC10] Barkan Ugurlu, and Atsuo Kawamura, Real-time Running and Jumping Pattern Generation for Bipedal Robots based on ZMP and Euler's Equations, in Proc. of the  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, US, 2009, pp. 1100-1105 (nominated for best paper award). [pdf]

[IC9] Barkan Ugurlu, Takahiro Hirabayashi, and Atsuo Kawamura, A Unified Control Frame for Stable Bipedal Walking, in Proc. of the  IEEE International Conference on Industrial Electronics and Control (IECON), Porto, Portugal, 2009, pp. 4167-4172. [pdf]

[IC8] Barkan Ugurlu, and Atsuo Kawamura, Eulerian ZMP Resolution: Real-time Jogging and Jumping Trajectory Planning for Bipedal Robots, in Proc. of the  IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Singapore, 2009, pp. 150-155. 

[IC7] Barkan Ugurlu, and Atsuo Kawamura, Real-time jumping trajectory generation for a one legged jumping robot, in Proc. of the  IEEE International Conference on Industrial Electronics and Control (IECON), Orlando, US, 2008, pp. 1668-1673. [pdf]

[IC6] Barkan Ugurlu, Cengiz Mete Uzundere, Hakan Temeltas, and Atsuo Kawamura, Mechanical and Electrical Design of a Two Segmental Eight-Legged Mobile Robot for Planetary Exploration, in Proc. of the Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Coimbra, Portugal, 2008, pp. 1061-1068. [pdf]

[IC5] Takahiro Hirabayashi, Barkan Ugurlu, Atsuo Kawamura, and C. Zhu, Yaw Moment Compensation of Biped Fast Walking Using 3D Inverted Pendulum, in Proc. of the IEEE International Workshop on Advanced Motion Control (AMC), Trento, Italy, 2008, pp. 296-300.

[IC4] Takuro Maeda, Barkan Ugurlu, and Atsuo Kawamura, Two Legged Jumping Simulation and Experiment on Biped Robot MARI-3, in Proc. of the IEEE International Workshop on Advanced Motion Control (AMC), Trento, Italy, 2008, pp. 301-305.

[IC3] Fariz Ali, Barkan Ugurlu, and Atsuo Kawamura, ,in Proc. of the IEEE International Workshop on Advanced Motion Control (AMC), Center of Mass based Inverse Kinematics Algorithm for Bipedal Robot Motion on Inclined Surfaces, Nagaoka, Japan, 2010, pp. 396-401.

[IC2] Aliza Che Amran, Barkan Ugurlu, and Atsuo Kawamura, Energy and Torque Efficient ZMP-based Bipedal Walking with Varying Center of Mass Height, in Proc. of the IEEE International Workshop on Advanced Motion Control (AMC), Nagaoka, Japan, 2010, pp. 408-413.

[IC1] Barkan Ugurlu, and Atsuo Kawamura, "Online Pattern Generation for a One-Legged Jumping Robot", in Proc. International Symposium on Robotics (ISR), Seoul, Korea, 2008.