Selim Ozel

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— This paper addresses the design and dynamic analysis of a new generation of fluidic elastomer actuators (FEAs) that offer bidirectional bending developed as motion segments of a pressure-operated soft robotic snake. Our prior work on FEAs has identified a number of limitations, namely a high center of gravity, narrow base, slow dynamics, and a small range(More)
— Soft pneumatic actuators provide many exciting properties, but controlling them without the use of bulky and expensive flow-control valves can be difficult and computa-tionally expensive. We seek a solution to this problem by introducing an inexpensive and reliable muscle-like linear soft actuator used antagonistically to operate a rigid 1-DoF joint,(More)
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Soft robotic snakes promise significant advantages in achieving traveling curvature waves with a reduced number of active segments as well as allowing for safe and adaptive interaction with the environment and human users. However, current soft robot platforms suffer from a lack of accurate theoretical dynamic models and proprioceptive measurements, which(More)
— Legged robots have significant advantages over other types of mobile robots when task at hand requires the robot to overcome obstacles. This paper presents a reference trajectory generation method for a quadruped robot for pace gait on a flat surface. The approach is based on the Zero Moment Point (ZMP) stability criterion and the Linear Inverted Pendulum(More)
— Arm swing action is a natural phenomenon that emerges in biped locomotion. A shoulder torque reference generation method is introduced in this paper to utilize arms of a humanoid robot during locomotion. Main idea of the technique is the employment of shoulder joint actuation torques in order to stabilize body orientation. The reference torques are(More)
Selim Ozel is a robotics researcher and mechatronics engineer with strong programming skills. He worked on robotic projects during graduate education for two years, he also worked as a teaching assistant for four semesters. His future career goal is to get a PhD degree at an internationally recognized institution in order to work as an academician. His(More)
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