Metin Yílmaz

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SURALP is a new walking humanoid robot platform designed at Sabanci University - Turkey. The kinematic arrangement of the robot consists of 29 independently driven axes, including legs, arms, waist and a neck. This paper presents the highlights of the design of this robot and experimental walking results. Mechanical design, actuation mechanisms, sensors,(More)
OBJECTIVE In this study, our purpose was to evaluate results of our experience with bone cement repair of ossicular discontinuity between the incus and stapes and between the malleus and stapes. METHODS Medical records of patients who underwent surgery for chronic otitis media between March 2000 and December 2002 were evaluated retrospectively.(More)
OBJECTIVE Coronary artery bypass grafting (CABG) is gradually increasing in the elderly population. We aimed to investigate the risk factors and the results of CABG along with the long term survival in patients at an age of 80 and older. METHODS Between January 2002 and December 2011, a total of 101 consecutive patients at an age of 80 and older who(More)
— The humanoid bipedal structure is suitable for a assitive robot functioning in the human environment. However, the bipedal walk is a difficult control problem. Walking just on even floor is not satisfactory for the applicability of a humanoid robot. This paper presents a study on bipedal walk on inclined planes. A Zero Moment Point (ZMP) based reference(More)
BACKGROUND The aim of this study was to present our technique of posterior fossa surgery and to evaluate whether cerebellar retractors are needed. METHODS Since March 1989, more than 500 surgeries were performed through retrosigmoid approach, and our surgical technique was described. The data were evaluated whether or not cerebellar retractors were used(More)
SURALP is a 29 degrees-of-freedom full-body walking humanoid robot designed and constructed at Sabanci University-Turkey. The human-sized robot is actuated by DC motors, belt and pulley systems and Harmonic Drive reduction gears. The sensory equipment consists of joint encoders, force/torque sensors, inertial measurement systems and cameras. The control(More)
The bipedal structure is suitable for a robot functioning in the human environment, and assuming assistive roles. However, the bipedal walk is a poses a difficult control problem. Walking on even floor is not satisfactory for the applicability of a humanoid robot. This paper presents a study on bipedal walk on inclined planes. A Zero Moment Point (ZMP)(More)
Kemalettin Erbatur received double major B.S. (honors) degrees in electronic engineering and In 2002, he became a faculty member in the Faculty of Engineering and Natural Sciences, Sabanci University. For a period in 2003, he was a collaborator of the International Rescue System Institute, Kobe, Japan as a faculty of Sabanci University. He offers courses on(More)