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Burak Yüksel
Researcher at Max Planck Society
Publications - 18
Citations - 351
Burak Yüksel is an academic researcher from Max Planck Society. The author has contributed to research in topics: Underactuation & Control theory. The author has an hindex of 7, co-authored 17 publications receiving 302 citations.
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Proceedings ArticleDOI
A nonlinear force observer for quadrotors and application to physical interactive tasks
TL;DR: A Lyapunov based nonlinear observer is introduced for estimating the external forces applied to a quadrotor and it is shown how to exploit the estimated force for shaping the interactive behavior of thequadrotor using Interconnection and Damping Assignment Passivity Based Controller (IDA-PBC).
Proceedings ArticleDOI
Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction
TL;DR: A controller, based on an extension of Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) framework, for shaping the whole physical characteristics of a quadrotor and for obtaining a desired interactive behavior between the robot and the environment is proposed.
Proceedings ArticleDOI
Differential flatness and control of protocentric aerial manipulators with any number of arms and mixed rigid-/elastic-joints
TL;DR: It is proved that protocentric aerial manipulators (PAMs) are differentially flat systems regardless the number of joints of each arm and their kinematic and dynamic parameters, no matter the internal distribution between elastic and rigid joints.
Proceedings ArticleDOI
Dynamic decentralized control for protocentric aerial manipulators
TL;DR: It is demonstrated that the proposed controller is able to precisely track dynamic trajectories when implemented on a standard hardware and clearly shows the benefit of using the nominal input/state generator.
Proceedings ArticleDOI
Design, identification and experimental testing of a light-weight flexible-joint arm for aerial physical interaction
TL;DR: The design of a light- Weight novel flexible-joint arm for light-weight unmanned aerial vehicles (UAVs) is introduced, which can be used both for safe physical interaction with the environment and it represents also a preliminary step in the direction of performing quick motions for tasks such as hammering or throwing.